Active Disturbance Rejection Controller Design for Electric Vehicle Traction System

2014 ◽  
Vol 953-954 ◽  
pp. 1406-1412
Author(s):  
Yu Min Wang ◽  
Qing Fan
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Current Loop ◽  
Low Velocity ◽  
Brushless Dc ◽  
Tracking Differentiator ◽  
Active Disturbance Rejection ◽  
Traction System

In some low velocity electric vehicle system, Brushless DC motor is used for the main traction motor. However, the low-velocity stability should be guaranteed, especially with the suddenly-changing load, the velocity response should be more quick and the overshoot should be small, all of above can make the vehicle more comfortable. The traction system is controlled by a current loop and a velocity loop, so a new method is proposed, that PI control strategy is in the current loop and the active disturbance rejection controller is in the velocity loop to restrain the bad effect results from suddenly-changing load. This active disturbance rejection controller is composed of a tracking differentiator, an extended state observer, a nonlinear state error feedback controller, and etc. The parameters of the controller are optimally designed, and the simulation results show that this control strategy can effectively restrain the suddenly-changing load and improve the vehicle’s low velocity performance.

Simulation and Test Analysis of the Torque Ripples of Brushless DC Motor for Electric Vehicles

2011 ◽  
Vol 464 ◽  
pp. 76-80 ◽  
Author(s):  
Zhong Xin Li ◽  
Xing Liang Zhu ◽  
Hong Jiang
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Dc Motor ◽  
Brushless Dc Motor ◽  
Current Loop ◽  
Loop Model ◽  
Brushless Dc ◽  
Technical Requirements ◽  
Torque Ripples ◽  
Research Institute

A new control strategy was proposed to restrain the torque ripples of brushless DC motor (BLDCM) when starting an electric vehicle. Based on the mathematical model of BLDCM, a double loop model of the BLDCM drive system was established using Matlab/Simulink. A PID controller was used in the speed loop, and a current controller based on hysteresis characteristic was implemented in the current loop. The simulation results were compared with the experimental results obtained in the drum test using an electric vehicle which was developed by the research institute. It was found that the control strategy and the motor controller exploited by the research institute met the technical requirements of starting process for the electric vehicle. The torque ripples of BLDCM were suppressed and the simulation model was validated.

Active disturbance rejection controller design for stable walking of a compass-like biped

2017 ◽  
Vol 40 (14) ◽  
pp. 4063-4077 ◽  
Author(s):  
Sumian Song ◽  
Chong Tang ◽  
Zidong Wang ◽  
Gangfeng Yan
Keyword(s):  
Control Strategy ◽  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
External Disturbance ◽  
Biped Robots ◽  
Walking Gait ◽  
Active Disturbance Rejection ◽  
Coordinate Control ◽  
High Efficient

This paper aims to develop an active disturbance rejection controller design scheme for compass-like biped robots. In the previous study, with a special designed mechanical structure on compass-like biped, we have generated a high-efficient walking gait. The original controller applied linearization approximation based on the method transverse coordinate control, with which the ability of disturbance rejection is insufficient. We introduce the active disturbance rejection controller method into the control scheme, which only requires the information of angular momentum and has the ability to compensate the model error and the external disturbance. With the new control strategy, the linearization approximation method is replaced by an active disturbance rejection controller and the robustness is improved. In order to further apply this control method, a switching control strategy has been proposed and a series of numerical simulations show that active disturbance rejection controller has a good disturbance rejection effect.

Joint Torque Control of a Collaborative Robot Based on Active Disturbance Rejection With the Consideration of Actuator Delay

2017 ◽  
Author(s):  
Tianyu Ren ◽  
Yunfei Dong ◽  
Dan Wu ◽  
Guolei Wang ◽  
Ken Chen
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
Robot Manipulator ◽  
Torque Control ◽  
Joint Torque ◽  
System Stability ◽  
Current Loop ◽  
Robot Dynamics ◽  
Harmonic Drive ◽  
Active Disturbance Rejection

The application of a robot manipulator to the task of parts assembling or collaboration with human workers requires compliant control and intrinsic safety. As a result, it is necessary to exert accurate torque on each joint of the robot through torque sensing and implementing closed-loop joint torque control. This torque servo system is required to track reference torque signals while operating under the influence of motor friction, flexibility of the harmonic drive, noise from the sensor, robot dynamics modelling error and other unknown certainties, resulting in large control efforts. This paper focuses on providing better compliance control for collaborative robots and proposes a joint torque controller design under development with active disturbance rejection concept. The controller is designed through a novel extended state observer to estimate and compensate for the unmodelled dynamics of the system, nonlinearly variable motor friction, and other uncertainties. Then, a simple proportional differential controller is designed to produce control law. In spite of the remarkable performance in dealing with the mechanical dynamics of the joint actuator, the original controller does not work well with the electrical factor of the joint actuator due to the limited current loop bandwidth in the hardware of motor and driver. To eliminate the detrimental effect of the time delay in current servo, a predictive output method based on a nonlinear tracking differentiator (TD) is used to improve the controller within the framework of active disturbance rejection control. Both simulations and experiments are conducted on a prototype one degree of freedom manipulator with a joint torque sensor. The results demonstrate the enhancement of both the system stability and disturbance rejection performances. Based on the proper treatment of actuator delay, the dominant effect of the motor friction and the flexibility of the harmonic drive has been reduced to insignificance. Moreover, the proposed controller is easy to implement because the explicit dynamic model of the system is not required.

Simulation on Active Disturbance Rejection Control

2013 ◽  
Vol 391 ◽  
pp. 420-423
Author(s):  
Wei Zhang ◽  
Ying Bo Cai ◽  
Xue Tong Wei
Keyword(s):  
Disturbance Rejection ◽  
Controller Design ◽  
Error Feedback ◽  
External Disturbances ◽  
Tracking Differentiator ◽  
Active Disturbance Rejection ◽  
Feedback Path ◽  
Disturbance Rejection Control ◽  
Excellent Control ◽  
Nonlinear State

A highly robust active disturbance rejection controller (ADRC) is developed in this paper. The proposed ADRC consists of a tracking differentiator (TD) in the feed forward path, an extended state observer (ESO), and a nonlinear state error feedback control law (NLSEF) in the feedback path. The control theory, the structure of ADRC and the controller design are presented. LabVIEW is used for modeling, simulation and analysis of the dynamic system. Simulation results show that the proposed ADRC has excellent control performance, especially outstanding adaptability and robustness external disturbances and model uncertainties.

scholarly journals A Control Method for IPMSM Based on Active Disturbance Rejection Control and Model Predictive Control

Mathematics ◽  
2021 ◽  
Vol 9 (7) ◽  
pp. 760
Author(s):  
Fang Liu ◽  
Haotian Li ◽  
Ling Liu ◽  
Runmin Zou ◽  
Kangzhi Liu
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Duty Cycle ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Torque Ripple ◽  
Current Control ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this paper, the speed tracking problem of the interior permanent magnet synchronous motor (IPMSM) of an electric vehicle is studied. A cascade speed control strategy based on active disturbance rejection control (ADRC) and a current control strategy based on improved duty cycle finite control set model predictive control (FCSMPC) are proposed, both of which can reduce torque ripple and current ripple as well as the computational burden. First of all, in the linearization process, some nonlinear terms are added into the control signal for voltage compensation, which can reduce the order of the prediction model. Then, the dq-axis currents are selected by maximum torque per ampere (MTPA). Six virtual vectors are employed to FCSMPC, and a novel way to calculate the duty cycle is adopted. Finally, the simulation results show the validity and superiority of the proposed method.

scholarly journals New DTC strategy of multi-machines single-inverter systems for electric vehicle traction applications

2020 ◽  
Vol 11 (2) ◽  
pp. 641
Author(s):  
Taibi Ahmed ◽  
Hartani Kada ◽  
Allali Ahmed
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Control Structure ◽  
Synchronous Machines ◽  
Permanent Magnet Synchronous Machines ◽  
Structure Control ◽  
The Subject ◽  
Simulation Results ◽  
The Stability ◽  
Traction System

In high power traction system applications two or more machines are fed by one converter. This topology results in a light, more compact and less costly system. These systems are called multi-machines single-converter systems. The problems posed by different electrical and mechanical couplings in these systems (MMS) affect various stages of the systems and require control strategy to reduce adverse effects. Control of multi-machines single-converter systems is the subject of this paper. The studied MMS is an electric vehicle with four in-wheel PMS motors. A three-leg inverter supplies two permanent magnet synchronous machines which are connected to the front right and rear right wheels, and another inverter supplies the left side. Several methods have been proposed for the control of multi-machines single-inverter systems, the master-slave control structure seems best adapted for our traction system. In this paper, a new control structure based on DTC method is used for the control of bi-machine traction system of an EV. This new control has been implanted in simulation to analyze its robustness in the presence of the various load cases involved in our electric vehicle traction chain. Simulation results indicated that this structure control allowed the stability of the traction system.

scholarly journals Active Disturbance Rejection Station-Keeping Control of Unstable Orbits around Collinear Libration Points

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Min Zhu ◽  
Hamid Reza Karimi ◽  
Hui Zhang ◽  
Qing Gao ◽  
Yong Wang
Keyword(s):  
Disturbance Rejection ◽  
External Disturbance ◽  
State Observer ◽  
Libration Points ◽  
Extended State Observer ◽  
Unstable Periodic Orbits ◽  
Extended State ◽  
Station Keeping ◽  
Tracking Differentiator ◽  
Active Disturbance Rejection

An active disturbance rejection station-keeping control scheme is derived and analyzed for station-keeping missions of spacecraft along a class of unstable periodic orbits near collinear libration points of the Sun-Earth system. It is an error driven, rather than model-based control law, essentially accounting for the independence of model accuracy and linearization. An extended state observer is designed to estimate the states in real time by setting an extended state, that is, the sum of unmodeled dynamic and external disturbance. This total disturbance is compensated by a nonlinear state error feedback controller based on the extended state observer. A nonlinear tracking differentiator is designed to obtain the velocity of the spacecraft since only position signals are available. In addition, the system contradiction between rapid response and overshoot can be effectively solved via arranging the transient process in tracking differentiator. Simulation results illustrate that the proposed method is adequate for station-keeping of unstable Halo orbits in the presence of system uncertainties, initial injection errors, solar radiation pressure, and perturbations of the eccentric nature of the Earth's orbit. It is also shown that the closed-loop control system performance is improved significantly using our method comparing with the general LQR method.

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