A Design Method of Active Disturbance Rejection Controller for Linear Motor Servo Systems

被引：3

作者：

Zhang Guozhu ^{[1
]}

Chen Jie ^{[1
]}

Li Zhiping ^{[1
]}

机构：

[1] Beijing Inst Technol, Educ Minist, Key Lab Complex Syst Intelligent Control & Decis, Beijing 100081, Peoples R China

来源：

Proceedings of the 27th Chinese Control Conference, Vol 5 | 2008年

关键词：

Active disturbance rejection control (ADRC); Linear motor servo system; Parameter tuning;

D O I：

10.1109/CHICC.2008.4605466

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Active Disturbance Rejection Control (ADRC), which can overcome the influence of unmodeled dynamics and unknown disturbance, does not need precise model for its design. However, ADRC has several parameters, which make it difficult to config. To solve the problem above, this paper proposes a design method of ADRC for linear motor servo system. The relation between feedback gain and phase margin is analyzes, and then the rule of tuning feedback gain is obtained. In the design method of this paper, some parameters of ADRC is estimated using experimental data at first, then tracking differentiator and expanded states observer are designed according to the parameters of the linear motor, and at last the feedback gain is tuned following some tuning rules. The experimental results show that this method not only has good control performance, but also greatly improve the efficiency of tuning parameters.

引用

页码：229 / 233

页数：5