scholarly journals Active Disturbance Rejection Control of Differential Drive Assist Steering for Electric Vehicles

Energies ◽  
2020 ◽  
Vol 13 (10) ◽  
pp. 2647 ◽  
Author(s):  
Junnian Wang ◽  
Xiandong Wang ◽  
Zheng Luo ◽  
Francis Assadian
Keyword(s):  
Electric Vehicle ◽  
Disturbance Rejection ◽  
Pid Controller ◽  
Simulated Annealing Algorithm ◽  
Steering Wheel ◽  
Active Disturbance Rejection Control ◽  
Tracking Accuracy ◽  
Differential Drive ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

The differential drive assist steering (DDAS) system makes full use of the advantages of independent control of wheel torque of electric vehicle driven by front in-wheel motors to achieve steering assistance and reduce the steering effort of the driver, as the electric power steering (EPS) system does. However, as an indirect steering assist technology that applies steering system assistance via differential drive, its linear control algorithm, like existing proportion integration differentiation (PID) controllers, cannot take the nonlinear characteristics of the tires’ dynamics into account which results in poor performance in road feeling and tracking accuracy. This paper introduces an active disturbance rejection control (ADRC) method into the control issue of the DDAS. First, the third-order ADRC controller of the DDAS is designed, and the simulated annealing algorithm is used to optimize the parameters of ADRC controller offline considering that the parameters of ADRC controller are too many and the parameter tuning is complex. Finally, the 11-DOF model of the electric vehicle driven by in-wheel motors is built, and the standard working conditions are selected for simulation and experimental verification. The results show that the ADRC controller designed in this paper can not only obviously reduce the steering wheel effort of the driver like PID controller, but also have better nonlinear control performance in tracking accuracy and smooth road feeling of the driver than the traditional PID controller.

MPC based active disturbance rejection control for automated steering control

2021 ◽  
pp. 095440702110045
Author(s):  
Suhail Ahmad Suhail ◽  
Mohammad Abid Bazaz ◽  
Shoeb Hussain
Keyword(s):  
Control Strategy ◽  
Vehicle Dynamics ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Steering Control ◽  
Tracking Accuracy ◽  
External Disturbances ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Dynamics Simulations

This paper proposes a control strategy for the design of an automated steering control for an autonomous electric vehicle. The proposed Active Disturbance Rejection Control (ADRC) with Model Predective Control (MPC) is not only capable of alleviating the disturbance but also shows robustness against structured uncertainties which may arise due to models that represent the vehicle dynamics. Simulations have been carried out to assess the effectiveness of the proposed control strategy. Simulation results show that the proposed scheme is better in terms of tracking performance than MPC and ADRC. The steering control system, with the proposed strategy, can achieve faster response, higher tracking accuracy, and improved robustness performance in dealing with model uncertainties and external disturbances.

scholarly journals Linear Active Disturbance Rejection Control of Dissolved Oxygen Concentration Based on Benchmark Simulation Model Number 1

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Xiaoyi Wang ◽  
Fan Wang ◽  
Wei Wei
Keyword(s):  
Wastewater Treatment ◽  
Dissolved Oxygen ◽  
Simulation Model ◽  
Oxygen Concentration ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Dissolved Oxygen Concentration ◽  
Tracking Accuracy ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In wastewater treatment plants (WWTPs), the dissolved oxygen is the key variable to be controlled in bioreactors. In this paper, linear active disturbance rejection control (LADRC) is utilized to track the dissolved oxygen concentration based on benchmark simulation model number 1 (BSM1). Optimal LADRC parameters tuning approach for wastewater treatment processes is obtained by analyzing and simulations on BSM1. Moreover, by analyzing the estimation capacity of linear extended state observer (LESO) in the control of dissolved oxygen, the parameter range of LESO is acquired, which is a valuable guidance for parameter tuning in simulation and even in practice. The simulation results show that LADRC can overcome the disturbance existing in the control of wastewater and improve the tracking accuracy of dissolved oxygen. LADRC provides another practical solution to the control of WWTPs.

Active Disturbance Rejection Control for Trajectory Tracking of Manipulator Joint with Flexibility and Friction

2013 ◽  
Vol 325-326 ◽  
pp. 1229-1232 ◽  
Author(s):  
Ming Chu ◽  
Gang Chen ◽  
Fei Jie Huang ◽  
Qing Xuan Jia
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
External Disturbance ◽  
Active Disturbance Rejection Control ◽  
Tracking Accuracy ◽  
Active Disturbance Rejection ◽  
State Observers ◽  
Disturbance Rejection Control ◽  
In Series ◽  
Time Observation

For high-accuracy trajectory tracking of manipulator joint, the more realistic dynamic equations, considering reducer flexibility, nonlinear friction and external disturbance, are established and then decomposed into two subsystems in series. A double closed-loop controller, which is mainly used to compensate the flexibility, is designed by using active disturbance rejection control (ADRC) technology. The extended state observers are applied for real-time observation and compensation of the nonlinear terms. Simulation results indicate that the flexibility and friction are simultaneously overcomed, and the proposed controller can greatly improve the tracking accuracy.

scholarly journals Linear Active Disturbance Rejection Control for Lever-Type Electric Erection System Based on Approximate Model

2019 ◽  
Vol 2019 ◽  
pp. 1-7
Author(s):  
Hailong Niu ◽  
Qinhe Gao ◽  
Shengjin Tang ◽  
Wenliang Guan
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Approximate Model ◽  
Control Law ◽  
Active Disturbance Rejection Control ◽  
Tracking Accuracy ◽  
Servo Drive ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Servo Drive System

Linear active disturbance rejection control (LADRC) algorithm is proposed to realize accurate trajectory tracking for the lever-type electric erection system. By means of system identification and curve fitting, the approximate model is built, which is consisting of the servo drive system with velocity closed-loop and the lever-type erection mechanism. The proportional control law with velocity feedforward is designed to improve the trajectory tracking performance. The experimental results verify that, based on approximate model, LADRC has better tracking accuracy and stronger robustness to the disturbance caused by the change of intrinsic parameters compared with PI controller.

scholarly journals Investigation of the Hydraulic Servo System of the Rolling Mill Using Nonsingular Terminal Sliding Mode-Active Disturbance Rejection Control

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Jining Guo ◽  
Haoyu Zhang ◽  
Desheng Liu
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
State Observer ◽  
Active Disturbance Rejection Control ◽  
Tracking Accuracy ◽  
Terminal Sliding Mode ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Hydraulic Servo

In order to improve the disturbance rejection ability and tracking accuracy of the hydraulic servo system of the rolling mill, this study combines nonsingular terminal sliding mode control (NTSMC) with active disturbance rejection control (ADRC). A fourth-order extended state observer was designed to estimate the disturbance of the system in real time. The stability of the control system was tested using the Lyapunov method. System effectiveness was verified through simulation experiments. Simulation results showed that the designed state observer can estimate the total disturbance of the system in real time and that the chattering of the control input can be eliminated by the introduction of a state observer. In terms of uncertainty in the system model caused by load changes and external interference signals, the nonsingular terminal sliding mode-active disturbance rejection control method exhibited better disturbance rejection capacity and a higher tracking accuracy than NTSMC.

Electronic Differential Based On Active Disturbance Rejection Control For a Four In-Wheel Drive Electric-Vehicle (Go-Kart)

2021 ◽  
Author(s):  
Omar Castro-Heredia ◽  
Jesus Linares-Flores ◽  
Carlos Garcia-Rodriguez ◽  
Jesus Salazar-Oropeza ◽  
Oscar-David Ramirez-Cardenas ◽  
...  
Keyword(s):  
Electric Vehicle ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Wheel Drive

scholarly journals Improved Linear Active Disturbance Rejection Control for Lever-Type Electric Erection System with Varying Loads and Low-Resolution Encoder

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Hailong Niu ◽  
Qinhe Gao ◽  
Zhihao Liu ◽  
Shengjin Tang ◽  
Wenliang Guan
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Approximate Model ◽  
Control Mode ◽  
Active Disturbance Rejection Control ◽  
Tracking Accuracy ◽  
Low Resolution ◽  
Reduced Order ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

The lever-type electric erection system is a novel kind of erection system and the experimental platform in this paper operates with varying loads and low-resolution encoder. For high accuracy trajectory tracking, linear active disturbance rejection control (LADRC) is introduced. An approximate model, consisting of the servo system configured at velocity control mode and the lever-type erection mechanism, is built by means of system identification and curve fitting. Reduced-order LADRC based on the further simplified model is proposed to improve tracking accuracy and robustness. As comparisons, traditional LADRC and PID with high-gain tracking differentiator (HGTD) are designed. Simulation and experimental results indicate that reduced-order LADRC can realize higher trajectory tracking accuracy with low-resolution encoder and has better robustness to variation in erection loads, compared with traditional LADRC and PID with HGTD.

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