Improved active-disturbance-rejection position controller for direct current (DC) motor, and design method of improved active-disturbance-rejection position controller

Abstract

The invention discloses a structure and a design method of an improved active-disturbance-rejection position controller for a direct current (DC) motor; the DC motor is taken as a controlled object, and an output position signal is taken as a controlled variable; the controller mainly consists of four parts, i.e., a tracking differentiator, a nonlinear state error feedback part, an extended state observer and a disturbance compensation part. The improved active-disturbance-rejection position controller is mainly used to improve a fal function in a nonlinear function in the extended state observer, and the fal function is used to determine the tracking performance of the extended state observer and the controller; the concrete improvement measure is adding a linear feedback area into non-linear feedback; therefore, the problem that in the traditional method, timely control cannot be realized when the system error is too large and the gain is too low can be solved on the basis of guaranteeing system stability. By comparing simulation lines obtained before and after the improvement for the controller, the structure and the design method which are provided by the invention are proved to accelerate the output signal response speed under the condition that the position error of the DC motor is larger, thus improving the integral control performance of a system.

Description

technical field [0001] The invention belongs to the technical field of industrial process control, and in particular relates to a structure and a design method of an improved active disturbance rejection position controller for a DC motor. Background technique [0002] In the control system, the DC motor is a common actuator. For example, the inverted pendulum control system needs the motor to drive the belt drive, the robot joint, etc. The position or angle of the motor is an important output quantity of the motor, and it is a control quantity often required in the actual system. In many actual productions, the motor needs to reach a certain stable position within a certain period of time, and the ADRC controller can control the position of the DC motor by virtue of its characteristics of not requiring an accurate model of the controlled object and being able to compensate for the overall disturbance. The research has the most direct practical significance. [0003] The a...

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Problems solved by technology

[0005] According to the imperfections and deficiencies of the current background technology, the present invention realizes the second-order active disturbance rejection control for the brushless DC motor and improves the fal function in the extended state observer in the active disturbance rejection controller, so as to ensure the stability of the system On the basis of this, it overcomes the problem of being unable to control in time when the system error is too large and the gain is too low in the traditional method

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