Study on Linear Active Disturbance Rejection Control Technique and its Application in Ship-Borne Servo Control System

2014 ◽  
Vol 532 ◽  
pp. 46-49
Author(s):  
Dong Xu Zhu ◽  
Gang Fu ◽  
Yang Liu ◽  
Qian He
Keyword(s):  
Control System ◽  
Disturbance Rejection ◽  
Control Method ◽  
Good Control ◽  
Servo Control ◽  
Control Technique ◽  
Tracking Accuracy ◽  
Active Disturbance Rejection ◽  
Servo Control System ◽  
Disturbance Rejection Control

In order to improve the rejection ability of the boat rocking disturbance and wind load disturbance on Ship-borne Servo Control System, the position linear ADRC (LADRC) is designed. First, mathematical model of Ship-borne Servo Control System is established, and PID control method is used for simulation. Methods used LADRC, estimated and compensated the wind disturbances and boats rocking disturbances, greatly. The simulation results show that ADRC method for active immunity, which greatly improves the immunity system and tracking accuracy, and the parameter adjustment is simple, just adjust a parameter can get good control performance.

Research of ADRC in Application to the Servo System of Self-Propelled Gun

2015 ◽  
Vol 713-715 ◽  
pp. 730-733 ◽  
Author(s):  
Peng Lei ◽  
Xue Bing Liao ◽  
Lin Hao Huang ◽  
Chang Hong Gong
Keyword(s):  
Control System ◽  
Permanent Magnet ◽  
Disturbance Rejection ◽  
Permanent Magnet Synchronous Motor ◽  
Servo System ◽  
Servo Control ◽  
Control Technique ◽  
Servo Control System ◽  
Disturbance Rejection Control ◽  
Simulation Results

Aiming at the problems of disturbance, coupling and fluctuation of load existing in permanent magnet synchronous motor (PMSM),which is used in the servo system of self-propelled gun, the auto disturbance rejection control technique (ADRC) is introduced into in the servo system of self-propelled gun. It can play with the best effect of the servo control system. The simulation results show that ADRC makes the servo system of self-propelled gun has better accuracy and robust.

Simulation of Control System for Permanent Magnet Synchronous Machine

2011 ◽  
Vol 66-68 ◽  
pp. 1422-1427
Author(s):  
Ting You ◽  
Pei Jiang Li
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Synchronous Machine ◽  
Permanent Magnet Synchronous Machine ◽  
Mode Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

For optimal control of synchronous machine, chattering phenomenon will appear if traditional slider control is adopted because permanent magnet synchronous machine is a complex nonlinear time-dependent system with strong coupling of current and rotational speed to cause the deterioration of system control performance with load or load disturbance. In this article, based on the mathematical model of permanent magnet synchronous machine, a control system for it, which combines sliding mode control and active disturbance rejection control, is proposed to improve the dynamic performance and robustness of control system. In the control system, sliding mode control is adopted to control the inner current of machine and active disturbance rejection control is adopted to control the outer speed. The load disturbance of system is also estimated and offset. The results of matlab simulation show that the control system can eliminate serious chattering phenomenon existing in sliding mode control, improves the robustness of system for load and system parameter disturbance as well as has great dynamic and static performance.

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuang Cheng ◽  
Hui Zhang ◽  
Hui Peng ◽  
Zhiqian Zhou ◽  
Bailiang Chen ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Stability Control ◽  
Mobile Manipulator ◽  
Active Disturbance Rejection Control ◽  
End Effector ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

Study on Disturbance Compensation for Ship-Borne Servo Control System

2014 ◽  
Vol 687-691 ◽  
pp. 367-370
Author(s):  
Dong Xu Zhu ◽  
Hui Jun Xie ◽  
Xin Rong Wang
Keyword(s):  
Control System ◽  
Disturbance Rejection ◽  
Servo Control ◽  
Disturbance Compensation ◽  
Servo Control System ◽  
Simulation Results

Aimed at rejecting the disturbance for Ship-borne Servo Control System, using the ADRC method to improve the disturbance rejection ability of system. And the model is validated by PID, the simulation results show that the anti-interference ability could be improved by of ADRC method, and the controller has engineering function and prospect.

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.

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