Active Disturbance Rejection Control in Airborne Direct Drive Electro Mechanical Actuator Application

2014 ◽  
Vol 551 ◽  
pp. 541-547
Author(s):  
He Song Liu ◽  
Yong Ling Fu ◽  
Juan Chen ◽  
Hui Chen
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Dynamic Performance ◽  
Active Disturbance Rejection Control ◽  
Control Performance ◽  
Direct Drive ◽  
Active Disturbance Rejection ◽  
Load Disturbance ◽  
Disturbance Rejection Control ◽  
Actuator Application

A novel active disturbance rejection control (ADRC) strategy is presented to improve position control performance of airborne direct drive electro-mechanical actuator (EMA). To begin with, kinematics model of the direct drive EMA is deduced for simulation benefits. Then, an ADRC controller is designed to implement the position control. Finally, simulation work is put forward to verify the steady-state precision, dynamic performance and load disturbance rejection ability, accounting for over-running load. The results verify that the ADRC-based EMA servo system is fast, precise, of no overshoot and strongly robust to load disturbance.

scholarly journals Position Control with ADRC for a Hydrostatic Double-Cylinder Actuator

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 112
Author(s):  
Bin Wang ◽  
Hengyu Ji ◽  
Rui Chang
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Dynamic Performance ◽  
Control Performance ◽  
Fuzzy Pid ◽  
System A ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Actuation Scheme ◽  
Hose Model

A compact and flexible hydraulic double-cylinder actuation scheme is proposed for use in applications, especially where power density is extremely demanding. In view of flexible amounting requirements, long and thin hoses were utilized to connect two cylinders. Affecting the actuation preciseness, volume variation of the hoses caused by pressurized oil and bubbles was the main problem the system encountered. In this study, an active disturbance rejection control (ADRC) strategy was adopted for the improvement of displacement control performance under uncertain external load. After the experimental verification of the necessity of a hose model for the system, a centralized-parameter hose model was constructed where the coefficients are determined on the basis of the experimental data. Additionally, the system and the controller proposed were mathematically modeled. Simulation results shows that the system using ADRC exhibited higher displacement accuracy and better dynamic performance than that using PID (Proportion-Integral-Derivative) or fuzzy PID. ADRC has a stronger disturbance rejection ability. ADRC is an effective solution to nonlinear control of systems with uncertain parameters or various loads.

Innovative design and gearshift control for direct-drive electromagnetic gearshift system equipped with servo synchronizer

2018 ◽  
Vol 233 (5) ◽  
pp. 1115-1124 ◽  
Author(s):  
Bo Li ◽  
Wenqing Ge ◽  
Xiao Yu ◽  
Shilei Shao ◽  
Haitao Liu
Keyword(s):  
Disturbance Rejection ◽  
Driving Force ◽  
Control Method ◽  
Mechanical Transmission ◽  
Active Disturbance Rejection Control ◽  
Proportional Integral Derivative ◽  
Direct Drive ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
And Control

Automated mechanical transmission has many advantages such as simple structure, high mechanical efficiency, and low cost. But the poor gearshift performance restricts the massive application of the automated mechanical transmission, and it can be improved through innovation of structure and control. To reduce the requirement of shift force and improve the shift performance, a new direct-drive electromagnetic gearshift system which consists of servo synchronizer and 2-degree-of-freedom electromagnetic actuator is adopted. The specific structure and working principle of the gearshift system including servo synchronizer are described, and the equation of force-amplifying ratio is deduced. Due to the complexity of the gearshift system and uncertainties of the gearshift process, active disturbance rejection control method is designed. The active disturbance rejection controller can eliminate the nonlinearity of the 2-degree-of-freedom actuator. The extended state observer can estimate and compensate the uncertainties, parameter variations, and external disturbances. Simulations are carried out, and the result comparison with proportional–integral–derivative controller indicates the superiority of the active disturbance rejection control method. Test bench and control system are developed to verify the performance of the newly designed system and control method. The experimental results show that, when the gearshift system is equipped with servo synchronizer, the driving force and the maximum volatility of driving force can be reduced by 35% and 5%, respectively, and the impact generated by active disturbance rejection control method is reduced by 36% compared with proportional–integral–derivative method. The new gearshift system achieves a better gearshift performance. Combined with the newly designed control strategy, the direct-drive electromagnetic gearshift system provides a new solution for automated mechanical transmission applications.

scholarly journals Cascaded control for balancing an inverted pendulum on a flying quadrotor

Robotica ◽  
2016 ◽  
Vol 35 (6) ◽  
pp. 1263-1279 ◽  
Author(s):  
Chao Zhang ◽  
Huosheng Hu ◽  
Dongbing Gu ◽  
Jing Wang
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Inverted Pendulum ◽  
Active Disturbance Rejection Control ◽  
Control Performance ◽  
Linear Quadratic ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Strong Robustness

SUMMARYThis paper is focused on the flying inverted pendulum problem, i.e., how to balance a pendulum on a flying quadrotor. After analyzing the system dynamics, a three loop cascade control strategy is proposed based on active disturbance rejection control (ADRC). Both the pendulum balancing and the trajectory tracking of the flying quadrotor are implemented by using the proposed control strategy. A simulation platform of 3D mechanical systems is deployed to verify the control performance and robustness of the proposed strategy, including a comparison with a Linear Quadratic Controller (LQR). Finally, a real quadrotor is flying with a pendulum to demonstrate the proposed method that can keep the system at equilibrium and show strong robustness against disturbances.

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