Application of Linear Active Disturbance Rejection Controller for Sensorless Control of Internal Permanent-Magnet Synchronous Motor

In order to achieve high motion accuracy and better robustness of the rocket launcher position servo system driven by a permanent magnet synchronous motor, a passivity-based controller based on improved active disturbance rejection control is proposed in this article. The convenient method of interconnection and damping assignment and passivitybased control is adopted to establish the port-controlled Hamiltonian system with dissipation model of permanent magnet synchronous motor. To further enhance the robustness and adaptability of the traditional active disturbance rejection controller, an improved active disturbance rejection control strategy-based radical basis function neural network is introduced to on-line update the proportional and derivative gains of improved active disturbance rejection controller. The results of numerical simulation and bench test indicate that the proposed improved active disturbance rejection control passivity-based control algorithm has advantages of smaller overshoot, fast response, small steady-state error, and strong robustness. It proves that the proposed control scheme is effective and suitable.

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“…Proposition 1. Defining v as a new input to the system equation (2) and considering the feedback, the control law is described as…”

Section: Pbc Controller Designmentioning

confidence: 99%

Passivity-based control for rocket launcher position servo system based on improved active disturbance rejection technology

Wang

Hou

et al. 2018

Advances in Mechanical Engineering

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“…Compared with the NESO, the LESO has the advantage of convenient gain parameter setting, and the control schemes based on the LESO have been applied to various systems. [29][30][31][32][33][34][35][36][37][38][39] For the antagonistic VSAs based on equivalent nonlinear torsion springs (ENTSs) in the presence of parametric uncertainties, unknown friction torques, unknown external disturbance, and input saturation constraints, a combination of the LESO, the sliding mode control (SMC), and the adaptive input saturation compensation (ISC) is designed to achieve the simultaneous position and stiffness tracking control of the VSAs. 40 However, in the above studies, 21,[26][27][28][29][30][31][32][33][34][35][36][37][38][39][40] the estimation errors were not considered explicitly in the DOB-based control or the LESO-based control.…”

Section: Introductionmentioning

confidence: 99%

Robust tracking control for two classes of variable stiffness actuators based on linear extended state observer with estimation error compensation

Guo

Xiao

2020

International Journal of Advanced Robotic Systems

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In this article, a novel robust tracking control scheme based on linear extended state observer with estimation error compensation is proposed for the tracking control of the antagonistic variable stiffness actuator based on equivalent nonlinear torsion spring and the serial variable stiffness actuator based on lever mechanism. For the dynamic models of these two classes of variable stiffness actuators, considering the parametric uncertainties, the unknown friction torques acting on the driving units, the unknown external disturbances acting on the output links and the input saturation constraints, an integral chain pseudo-linear system with input saturation constraints and matched lumped disturbances is established by coordinate transformation. Subsequently, the matched lumped disturbances in the pseudo-linear system are extended to the new system states, and we obtain an extended integral chain pseudo-linear system. Then, we design the linear extended state observer to estimate the unknown states of the extended pseudo-linear system. Considering the input saturation constraints in the extended pseudo-linear system and the estimation errors of the linear extended state observer with fixed preset observation gains, the adaptive input saturation compensation laws and the novel estimation error compensators are designed. Finally, a robust tracking controller based on linear extended state observer, sliding mode control, adaptive input saturation compensation laws, and estimating error compensators is designed to achieve simultaneous position and stiffness tracking control of these two classes of variable stiffness actuators. Under the action of the designed controller, the semi-global uniformly ultimately bounded stability of the closed-loop system is proved by the stability analysis of the candidate Lyapunov function. The simulation results show the effectiveness, robustness, and adaptability of the designed controller in the tracking control of these two classes of variable stiffness actuators. Furthermore, the simulation comparisons show the effectiveness of the proposed estimation error compensation measures in reducing the tracking errors and improving the disturbance rejection performance of the controller.

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“…For example, Hebertt et al 2 presented an ESO for the angular velocity trajectory tracking task on a substantially perturbed PMSM and disturbances, such as time variations, the presence of unknown, load-torque inputs, and unknown system parameters were observed. Du et al 3 applied a linear active disturbance rejection controller based on ESO for sensorless control of internal PMSM. The high performance of position estimation was achieved using line ESOs.…”

Section: Introductionmentioning

confidence: 99%

Speed control for permanent magnet synchronous motor based on an improved extended state observer

Liu

2018

Advances in Mechanical Engineering

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An improved extended state observer is designed to eliminate the influences of speed control for a permanent magnet synchronous motor. The improved extended state observer is designed based on a new nonlinear function. This function exhibits better continuity and derivability than previously available functions and can effectively reduce the highfrequency flutter phenomenon. The nonlinear dynamics, model uncertainty, and external disturbances of the permanent magnet synchronous motor speed control system are extended to a new state. The improved extended state observer is utilized to observe this state. The overtime variation of the permanent magnet synchronous motor speed control system can be predicted and compensated in real time by the improved extended state observer. Therefore, the improved extended state observer, which is designed based on the new nonlinear function, can eliminate the disturbances on the permanent magnet synchronous motor speed control system. Finally, simulation experiments are performed and results show that the permanent magnet synchronous motor speed control system with improved extended state observer exhibits better performances.

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Application of Linear Active Disturbance Rejection Controller for Sensorless Control of Internal Permanent-Magnet Synchronous Motor

Cited by 201 publications

References 30 publications

Passivity-based control for rocket launcher position servo system based on improved active disturbance rejection technology

Passivity-based control for rocket launcher position servo system based on improved active disturbance rejection technology

Robust tracking control for two classes of variable stiffness actuators based on linear extended state observer with estimation error compensation

Speed control for permanent magnet synchronous motor based on an improved extended state observer

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