Title :
Study on ADRC Controller Design and Simulation of Rock Drill Robot Joint Hydraulic Drive System
Author :
Jiuhong, Ruan ; Xuewen, Rong ; Sanyou, Wu
Author_Institution :
Shandong Jiaotong Univ., Jinan
Abstract :
Firstly, mathematic model of rock drill robot joint hydraulic drive system was analyzed, and the reduced-order approximative model was acquired. Then a two-order ADRC (Active Disturbance Rejection Controller) controller of the hydraulic system was designed, and the simulations were down within uncertainty environments. The simulation results show that the ADRC controller has ideal robustness to the system parameters´ disturbances and the large load disturbance, and rapid and smooth control process and high steady precise performances can be implemented.
Keywords :
control system synthesis; drilling; drilling machines; hydraulic drives; industrial robots; reduced order systems; stability; active disturbance rejection controller; controller design; hydraulic drive system; reduced-order approximative model; rock drill robot joint; simulation; smooth control process; Electronic mail; Hydraulic drives; Hydraulic systems; Mathematical model; Mathematics; Noise measurement; Process control; Robots; Robust control; Uncertainty; ADRC; Hydraulic system; Joint drive; Robustness; Rock drill robot;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347032
