Method for controlling servo system of active disturbance rejection control technology

A technology of active disturbance rejection control and servo system, which is applied in the field of servo system control and can solve problems such as deviation

Inactive Publication Date: 2012-11-28
10TH RES INST OF CETC
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Problems solved by technology

It can be clearly seen that at the same moment, there is a large deviation between the positio

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  • Method for controlling servo system of active disturbance rejection control technology
  • Method for controlling servo system of active disturbance rejection control technology
  • Method for controlling servo system of active disturbance rejection control technology

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Embodiment Construction

[0072] The invention is an improvement on the application of the ADRC technology to the servo system, making the algorithm more suitable for the servo system.

[0073] For a servo system that uses ADRC technology, first determine the gain b0 of the controlled object and the maximum acceleration r that can be used. The controlled object here should include the components with inherent characteristics in all systems except the regulator, such as the common digital pulse width modulation (PWM) power amplifier driven DC torque motor angle control system, b0 will include the digital PWM output voltage Gain, the torque gain of the motor, the total moment of inertia of the motor and the load, the angle measurement gain, and if there is a reduction gear, the reduction ratio should also be considered. In short, b0 is the total gain of the controlled object. When the input of the controlled object is an integer digital code and the output is also an integer digital code, the meaning of ...

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Abstract

The invention provides a method for controlling a servo system of an active disturbance rejection control technology, and aims to provide a method which has a simple algorithm, wide parameter adaptability and small servo system tracking dynamic error, and keeps the disturbance rejection capability of an automatic disturbance rejection controller (ADRC) control system. The method is realized through the following technical scheme that: firstly, a command differentiator ComD is substituted for a tracking differentiator TD which is arranged for a transition process of a standard active disturbance rejection control algorithm, and extracts a new location command value w1, a new speed command value w2 and a new acceleration command value w3; an extended state observer ESO in the standard active disturbance rejection control algorithm is continuously adopted, and calculates a system location observation value z1, a speed observation value z2 and an acceleration observation value z3; and w1 and z1 form a location error e1, w2 and z2 form a speed error e2, e1 and e2 are sent to a nonlinear state error feedback regulator (NLSEF), w3 and the output u0 of the NLSEF are added, w3 is taken as a feedback value, so the servo system of the improved active disturbance rejection control technology is formed.

Description

technical field [0001] The invention relates to a nonlinear control algorithm (ADRC-Active Disturbance Rejection Control) which can be widely used in the field of industrial control, especially for the servo system control method applied in the active disturbance rejection control technology. Background technique [0002] Active Disturbance Rejection Control (ADRC) is a set of new control methods created by Han Jingqing, a researcher at the Institute of Systems, Chinese Academy of Sciences, and his research team after more than ten years of unremitting efforts. This technology synthesizes the internal dynamics and external disturbances in the controlled object into the unknown disturbances suffered by the system, and estimates its state in real time by designing the extended state observer ESO, and uses nonlinear feedback to compensate. ADRC does not depend on the object model, and at the same time reasonably quotes nonlinear characteristics in the feedback, which improves t...

Claims

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Application Information

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IPC IPC(8): G05B17/00
Inventor 吴鹏唐茂华周新良米文龙
Owner 10TH RES INST OF CETC
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