Title :
An Active Disturbance Rejection controller design of a vertical direct-driven servo system
Author :
Zhang ; Cai Tao ; Xu Xing
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
The plant studied in this paper has significant nonlinearity and unbalanced gravitational torque, which have adverse effects on the control performance. To reduce thus effects, modeling the nonlinearity and unbalanced torque was generally considered to be essential in the controller design. Unfortunately, the accurate model is always unable to be reached. For this reason, the idea of Active Disturbance Rejection Control (ADRC) is introduced. The ESO is applied to estimate the total disturbance including nonlinearity and gravitational torque. After then, the estimated disturbance is cancelled out in the control. Furthermore, the feedforward control is combined with ADRC to obtain faster response. In the end, the real test is conducted in comparison with traditional PID control, under the reference of step and sinusoid signal. The results show the better performance of ADRC.
Keywords :
control nonlinearities; control system synthesis; feedforward; observers; robust control; servomechanisms; torque control; ADRC; ESO; active disturbance rejection controller design; disturbance estimation; feedforward control; nonlinearity torque; unbalanced gravitational torque; vertical direct-driven servo system; Automation; Educational institutions; Electronic mail; Feedforward neural networks; Intelligent control; Servomotors; Torque; ADRC; Disturbance; Feedforward; Nonlinearity; Unbalanced Torque;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an