Auto Disturbance Rejection Control Strategy for Large Inertia Servo System

Abstract:

For large inertia servo system, improving the system response speed and control precision has always been a difficulty. This paper presents an improved auto disturbance rejection control (ADRC) strategy, which has good control performance for this kind of system. Firstly, transition process is arranged for input signal, which can solve the contradiction between overshoot and rapidity, can also increase the regulation range of feedback gain; secondly, linear extended state observer is designed to identify load changes and other fluctuations; then, for the control plant after observation compensation, a nonlinear feedback controller is designed to obtain better control performance and better disturbance rejection capability. The simulation results show that, compared with the traditional PI controller, with the control strategy suggested in this paper the system has rapid response but very little overshoot, and has strong ability to suppress interference. The design of this controller is simple, easy to implement in Engineering, so it may have important reference value for this kind of large inertia system. Keywords: servo control; large inertia; auto disturbance rejection control; torque ripple; low speed

• Periodical: Applied Mechanics and Materials (Volumes 599-601)
• Pages: 841-846
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.599-601.841
• Online since: August 2014
• Authors: Ke Zhang*, Long Xu Jin
• Keywords: Auto Disturbance Rejection Control, Large Inertia, Low Speed, Servo Control, Torque Ripple

References

[1] Xi Yugeng, Li Dewei. Fundamental philosophy and status of qualitative synthesis of model predictive control [J]. Acta Automatica Sinica, 2008, 34(10), pp.1225-1234.

DOI: 10.3724/sp.j.1004.2008.01225

[2] Wang Zhengjun, Wang Junzheng, Zhao Hongbo. Large inertia servo system predictive brake control based on dual Kalman filter [J]. Electric Machines And Control, 2011, 15(8), pp.75-80.

[3] Khalid, M.U.; Kadri, M.B. Liquid level control of nonlinear Coupled Tanks System using linear model predictive control. International Conference on Emerging Technologies (ICET), 2012, pp.1-5.

DOI: 10.1109/icet.2012.6375434

[4] Chi-Ying Lin; Yen-Chung Liu. Precision Tracking Control and Constraint Handling of Mechatronic Servo Using Model Predictive Control[J]. IEEE/ASME Transactions on Mechatronics, 2012, 17(4), pp.593-605.

DOI: 10.1109/tmech.2011.2111376

[5] Han Jingqing. Auto Disturbance Rejection Control Technique [J]. Frontier Science. China, 2007, (1), pp.24-31.

[6] WANG Shuai, LI Hong-wen, MENG Hao-ran, WU. Active disturbance rejection controller for speed-loop in telescope servo system[J]. Optics and Precision Engineering, China, 2011, 19(10), pp.2443-2448.

DOI: 10.3788/ope.20111910.2442

[7] SHI Yun-tao, LIU Wei-chuan, LEI Zhen-wu. Research on the Problem of ADRC Controller Parameters Tuning Based on Hybrid Optimization Algorithm [J].  Control Engineering, China, 2013, (4), pp.748-752.