Active Disturbance Rejection Control for Electrical Cylinder
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- 英文论文题名：Active Disturbance Rejection Control for Electrical Cylinder
- 论文作者：Hui Peng ; JunZheng Wang ; Wei Shen ; JiangBo Zhao ; RenJian Hao
- 英文论文作者：Hui Peng ; JunZheng Wang ; Wei Shen ; JiangBo Zhao ; RenJian Hao ; School of Automation ; Beijing Institute of Technology ; Key laboratory of intelligent control and decision of complex system
- 年：2017
- 作者机构：School of Automation,Beijing Institute of Technology;Key laboratory of intelligent control and decision of complex system;
- 英文论文关键词：Electrical cylinder ; Nonlinear disturbance ; Position tracking control ; Active disturbance rejection control
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP273;V416.8
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：5
- 文件大小：574k
- 原文格式：D
- 会议级别：全国
摘要
The position tracking control problem of electrical cylinder in the presence of nonlinear friction load, inertia load and nonlinear disturbance due to its transmission process is addressed in this paper. To compensate all of these disturbances in the case of servo motion, active disturbance rejection control is used to make a continuous and precise transition. Tracking differentiator is used for arranging the transition process to avoid overshoot. Extended state observer is built to estimate the unmeasurable internal disturbance, parametric uncertainties and external uncertainty for a guaranteed robust performance. Nonlinear state error feedback is designed to combine the error feedbacks more reasonable. Simulation and experimental results show that active disturbance rejection controller shows very strong robustness and adaptability compared with traditional PID control algorithm.
The position tracking control problem of electrical cylinder in the presence of nonlinear friction load, inertia load and nonlinear disturbance due to its transmission process is addressed in this paper. To compensate all of these disturbances in the case of servo motion, active disturbance rejection control is used to make a continuous and precise transition. Tracking differentiator is used for arranging the transition process to avoid overshoot. Extended state observer is built to estimate the unmeasurable internal disturbance, parametric uncertainties and external uncertainty for a guaranteed robust performance. Nonlinear state error feedback is designed to combine the error feedbacks more reasonable. Simulation and experimental results show that active disturbance rejection controller shows very strong robustness and adaptability compared with traditional PID control algorithm.
The position tracking control problem of electrical cylinder in the presence of nonlinear friction load, inertia load and nonlinear disturbance due to its transmission process is addressed in this paper. To compensate all of these disturbances in the case of servo motion, active disturbance rejection control is used to make a continuous and precise transition. Tracking differentiator is used for arranging the transition process to avoid overshoot. Extended state observer is built to estimate the unmeasurable internal disturbance, parametric uncertainties and external uncertainty for a guaranteed robust performance. Nonlinear state error feedback is designed to combine the error feedbacks more reasonable. Simulation and experimental results show that active disturbance rejection controller shows very strong robustness and adaptability compared with traditional PID control algorithm.
引文
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[3]R.J.Hao,J.Z.Wang,J.B.Zhao,et al.Observer-based robust control of 6-DOF parallel electrical manipulator with fast friction estimation,IEEE Transactions on Automatic Science and Engineering,13(3):1399-1408,2015.
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[6]R.J.Hao,J.Z.Wang,J.B.Zhao,et al.Adaptive robust control for electrical cylinder with friction compensation using modified lu Gre model,Journal of Beijing Institute of Technology,03:358-368,2014.
[7]J.Q.Han.Auto disturbances rejection control technique,Frontier Science,01:24-31,2007(in Chinese).
[8]J.Q.Han.From PID to Active disturbance rejection control,IEEE Transactions on Industrial Electronics,56:900-906,2009.
[9]J.Q.Han,W.Wang.Nonlinear tracking-differentiator,Journal of Systems Science and Mathematical Science,14:177-183,1994.
[10]J.Q.Han.Active disturbance rejection controller and its application,Control and Decision,13(1):19-23,1998(in Chinese).
[11]S.Yang,Y.Zhong.Robust controller design for PMSM speed servo systems,in Proceedings of the CSEE,29(3):84-90,2009.
[12]B.Z.Guo,Z.L.Zhao.On convergence of tracking differentiator,International Journal of Control,84(4):693-701,2011.
[13]B.Z.Guo,Z.L.Zhao.On the convergence of an extended state observer for nonlinear systems with uncertainty,Systems&Control Letters,60:420-430,2011.
[14]B.Z.Guo,Z.L.Zhao.On convergence of the nonlinear active disturbance rejection control for MIMO system,SIAM Journal on Control and Optimization,51(2):1727-1757,2013.
[2]C.Chen,S.D.Zhao,et al.Study status and developing trend of electric cylinder,Journal of Mechanical Transmission,39(3):181-186,2015(in Chinese).
[3]R.J.Hao,J.Z.Wang,J.B.Zhao,et al.Observer-based robust control of 6-DOF parallel electrical manipulator with fast friction estimation,IEEE Transactions on Automatic Science and Engineering,13(3):1399-1408,2015.
[4]G.F.Song,Z.T.Cheng,L.P.Yuan,et al.Developing status and future application of motion simulator and its motion system,Machinery Design&Manufacture,06:230-232,2008(in Chinese).
[5]H.Zhou.Design of servo position control system for electric cylinder[D],Dalian:Dalian Maritime University,2014:3-5(in Chinese).
[6]R.J.Hao,J.Z.Wang,J.B.Zhao,et al.Adaptive robust control for electrical cylinder with friction compensation using modified lu Gre model,Journal of Beijing Institute of Technology,03:358-368,2014.
[7]J.Q.Han.Auto disturbances rejection control technique,Frontier Science,01:24-31,2007(in Chinese).
[8]J.Q.Han.From PID to Active disturbance rejection control,IEEE Transactions on Industrial Electronics,56:900-906,2009.
[9]J.Q.Han,W.Wang.Nonlinear tracking-differentiator,Journal of Systems Science and Mathematical Science,14:177-183,1994.
[10]J.Q.Han.Active disturbance rejection controller and its application,Control and Decision,13(1):19-23,1998(in Chinese).
[11]S.Yang,Y.Zhong.Robust controller design for PMSM speed servo systems,in Proceedings of the CSEE,29(3):84-90,2009.
[12]B.Z.Guo,Z.L.Zhao.On convergence of tracking differentiator,International Journal of Control,84(4):693-701,2011.
[13]B.Z.Guo,Z.L.Zhao.On the convergence of an extended state observer for nonlinear systems with uncertainty,Systems&Control Letters,60:420-430,2011.
[14]B.Z.Guo,Z.L.Zhao.On convergence of the nonlinear active disturbance rejection control for MIMO system,SIAM Journal on Control and Optimization,51(2):1727-1757,2013.