Parameters Tuning Rules Research on Nonlinear Active Disturbance Rejection Control

Parameter tuning of control variable gain is a difficult problem in the nonlinear active disturbance rejection controller. Taking the DC motor with current closed-loop as a controlled object, a parameter extraction method from known part of dynamic model is proposed, which reduces the number of adjustable parameters. The parameters tuning rules are summarized by "Separation Principle", and the nonlinear active disturbance rejection controller is designed. The results show that the parameter extraction method from known part of controlled object is feasible. Compared with the PID controller, the nonlinear active disturbance rejection controller consumes much less energy and has better dynamic characteristics, anti disturbance capacity and stronger robustness.