A Fractional-Order Active Disturbance Rejection Controller Design for a PMSM Servo System

2021 ◽  
Author(s):  
Bolin Li ◽  
Pengchong Chen ◽  
Ying Luo
Keyword(s):  
Fractional Order ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Tracking Error ◽  
Servo System ◽  
Parameter Tuning ◽  
Phase Constraint ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Abstract This paper proposes a fractional-order active disturbance rejection controller (FOADRC) parameters tuning design method for a permanent magnet synchronous motor (PMSM) servo system with frequency-domain analysis of active disturbance rejection control. In this method, a fractional-order proportional derivative (FOPD) and a fractional-order [proportional derivative] (FO[PD]) controllers design combining with active disturbance rejection control (ADRC) are proposed. A systematic parameter tuning scheme is presented, and a flat phase constraint is applied as a design specification, which guarantees the phase is flat around the gain crossover frequency point, and the closed-loop system is robust to gain variations. The simulation results illustrate that the response of the PMSM servo system using FO[PD]-ADRC has a smaller overshoot, less tracking error, and better resistance to load disturbance than that using FOPD-ADRC.

Automated steering controller design for vehicle lane keeping combining linear active disturbance rejection control and quantitative feedback theory

2018 ◽  
Vol 232 (7) ◽  
pp. 937-948 ◽  
Author(s):  
Zhengrong Chu ◽  
Christine Wu ◽  
Nariman Sepehri
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Active Disturbance Rejection Control ◽  
Quantitative Feedback Theory ◽  
Steering Control ◽  
Parameter Uncertainties ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Lane Keeping

In this article, a new automated steering control method is presented for vehicle lane keeping. This method is a combination between the linear active disturbance rejection control and the quantitative feedback theory. The structure of the steering controller is first determined based on the linear active disturbance rejection control, then the controller is tuned in the framework of the quantitative feedback theory to meet the prescribed design specifications on sensitivity and closed-loop stability. The parameter uncertainties of the vehicle system are considered at the tuning stage. The proposed steering controller is simulated and tested on a scale vehicle. Both the simulation and experimental results demonstrate that the scale vehicle controlled by the proposed controller is able to perform the lane keeping. In the experiments, the lateral offset between the scale vehicle and the road centerline is regulated within the acceptable ranges of ±0.03 m during straight lane keeping and ±0.15 m during curved lane keeping. The proposed controller is easy to be implemented and is simple without requiring complex calculations and measurements of vehicle states. Simulations also show that the control method can be implemented on a full-scale vehicle.

Electro-hydraulic position servo system based on sliding mode active disturbance rejection compound control

2021 ◽  
pp. 095440622110282
Author(s):  
Zhang He ◽  
Zhao Jiyun ◽  
Wang Yunfei ◽  
Zhang Zhonghai ◽  
Ding Haigang ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Sliding Mode ◽  
Servo System ◽  
Active Disturbance Rejection Control ◽  
Compound Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Uncertain Disturbances ◽  
Position Servo

This study proposes a compound control method based on sliding mode and active disturbance rejection control to address the difficulty of controlling the cutting head for boom-type roadheader with parameter changes and uncertain disturbances. The fastest discrete tracking differentiator and extended state observer based on the traditional active disturbance rejection control are designed. Additionally, the controller of the sliding mode and active disturbance rejection control is constructed. Theoretical analysis indicates that the proposed controller ensures asymptotic stability, despite the existing uncertain disturbances. Moreover, a system based on AMESim and MATLAB/Simulink Co-simulation model is developed to further verify the performance of proposed algorithm. Compared with traditional active disturbance rejection control, proportional-integral-derivative(PID) and sliding mode control, co-simulation results demonstrate that the sliding mode active disturbance rejection compound control improves the tracking accuracy and robustness of the position servo system.

scholarly journals Active Disturbance Rejection Control of Valve-Controlled Cylinder Servo Systems Based on MATLAB-AMESim Cosimulation

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Wenxiao Guo ◽  
Yanbin Zhao ◽  
Ruiqin Li ◽  
Haigang Ding ◽  
Jianwei Zhang
Keyword(s):  
Disturbance Rejection ◽  
Servo System ◽  
Constant Load ◽  
Variable Load ◽  
Active Disturbance Rejection Control ◽  
Servo Systems ◽  
Large Power ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Load Variable

The valve-controlled cylinder position servo system has the advantages of large output force and large power. As characteristics of nonlinearity and uncertainty exist in the hydraulic servo system, it is difficult for the traditional PID control to meet the requirements of high precision and control. The active disturbance rejection control (ADRC) considers the uncertainty of the system and external disturbances as the total disturbance. In this paper, the valve-controlled cylinder servo system is designed based on ADRC, its working principle is described, and its mathematical model and cosimulation model based on MATLAB-AMESim are established. In the case of constant load, variable load, and long pipeline, the comparative simulation of ADRC and PID is carried out. The simulation results show that the ADRC can effectively suppress the disturbance of the internal parameter changes and external load changes of the hydraulic system and has strong robustness and high control accuracy. This study provides a reference for the application of ADRC in electrohydraulic servo systems.

scholarly journals Design of an active front steering system for a vehicle using an active disturbance rejection control method

2019 ◽  
Vol 103 (1) ◽  
pp. 003685041988356
Author(s):  
Nan Sang ◽  
Lele Chen
Keyword(s):  
Pid Control ◽  
Disturbance Rejection ◽  
Tracking Error ◽  
Lateral Acceleration ◽  
Active Disturbance Rejection Control ◽  
Vehicle Model ◽  
Active Disturbance Rejection ◽  
Active Front Steering ◽  
Disturbance Rejection Control ◽  
Better Than

A linear vehicle model is commonly employed in the controller design for an active front steering (AFS). However, this simplified model has a considerable influence on the accuracy of the controller. In this article, an AFS controller using an active disturbance rejection control (ADRC) technique is proposed to prevent this problem. The AFS controller was established in MATLAB/Simulink to control the CarSim vehicle model for verification of the simulation. Under the straight-line driving disturbance condition, proportion-integration-differentiation (PID) control and ARDC substantially decreased with respect to the uncontrolled lateral offset and ADRC performed better than PID control. Under the double lane change (DLC) test working condition, the tracking error of the path, yaw rate, roll angle, and lateral acceleration, and error of the driving direction were used to evaluate the vehicle’s controllability and stability. These evaluation indexes were substantially improved by PID control and ADRC; similarly, ADRC was better than PID control. The tracking error of the ADRC in the presence of parameter variance and external disturbance was significantly smaller than that of PID control. The results have verified that the AFS controller based on ADRC can significantly improve vehicle controllability and stability.

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