Improved Linear Active Disturbance Rejection Control for Lever‐Type Electric Erection System with Varying Loads and Low‐Resolution Encoder

Abstract

The lever-type electric erection system is a novel kind of erection system and the experimental platform in this paper operates with varying loads and low-resolution encoder. For high accuracy trajectory tracking, linear active disturbance rejection control (LADRC) is introduced. An approximate model, consisting of the servo system configured at velocity control mode and the lever-type erection mechanism, is built by means of system identification and curve fitting. Reduced-order LADRC based on the further simplified model is proposed to improve tracking accuracy and robustness. As comparisons, traditional LADRC and PID with high-gain tracking differentiator (HGTD) are designed. Simulation and experimental results indicate that reduced-order LADRC can realize higher trajectory tracking accuracy with low-resolution encoder and has better robustness to variation in erection loads, compared with traditional LADRC and PID with HGTD.

Linear Active Disturbance Rejection Control for Lever-Type Electric Erection System Based on Approximate Model

“…Composition of Electric Erection System. Figure 1 [4] shows the electric erection system, which is mainly composed of the controller, the servo driver, the electric cylinder, the erection mechanism, loads, and encoders. The servo driver configured at velocity control mode receives the analog voltage command of -10V∼+10V.…”

“…Therefore, an approximate polynomial expression obtained by curve fitting is used to express the relationship [20]. The expression is [4] 휃 = 푓 휃 = 1.391 × 10 −9 휃 3 − 5.863 × 10 −7 휃 2 + 0.001763휃 − 0.005364 (4) where the units of 휃 and 휃 are both radian (rad).…”

“…The electric cylinder is starting to be used in the erection system, with the development of the electric cylinder and the servo motor [3]. Also, combining the single-stage electric cylinder and lever-type erection mechanism can shorten the stroke and avoid shocks, which is conducive to rapid and smooth erection [4]. As a typical mechatronic servo system, the control target for the electric erection system is making the erection loads track the planned trajectory accurately.…”

A Novel Linear Active Disturbance Rejection Control Design for Air-Breathing Supersonic Vehicle Attitude System with Prescribed Performance

“…However, there is an inevitable problem that many parameters are needed to be tuned which limits the application of ADRC in practice. In this connection, a linear active disturbance rejection control (LADRC) was firstly designed by Prof. Gao [24] which is extremely simple and easily implementable and it has been widely extended to various industrial control fields, such as electric erection system [25], hovercraft system [26], servo systems [27], wind power systems [28], and photobioreactor [29]. Meanwhile, [30,31] adopt the LADRC approach to design the attitude control for a supersonic missile.…”