Research on Friction Compensation Method of Electromechanical Actuator Based on Improved Active Disturbance Rejection Control

Zhang, Pan; Shi, Zhaoyao; Yu, Bo

doi:10.3390/act12120445

Cited by 5 publications

(3 citation statements)

References 27 publications

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“…In the work of Zhang et al [17], a friction feed-forward compensation method, based on an improved active disturbance rejection control (IADRC), was designed. A mathematical model of EMA was also developed, and the relationship between friction torque and torque current was derived.…”

Section: Hierarchical Controlmentioning

confidence: 99%

New Control Schemes for Actuators

Barambones,

Cortajarena,

Alkorta

2024

Actuators

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Section: Hierarchical Controlmentioning

confidence: 99%

New Control Schemes for Actuators

Barambones,

Cortajarena,

Alkorta

2024

Actuators

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show abstract

“…Reference [ 25 ] proposed Fuzzy-ADRC, enhancing its disturbance compensation capability. Reference [ 26 ] studied a composite ADRC for the second-order speed loop and position loop, proposing an IADRC to enhance system tracking accuracy. In reference [ 27 ], a bicyclic ADRC with position-velocity parameters that can be self-adaption is proposed for mechanical arm joints and applied to SCARA.…”

Section: Introductionmentioning

confidence: 99%

Composite ADRC Speed Control Method Based on LTDRO Feedforward Compensation

Jin,

Wang,

et al. 2024

Sensors

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The performance of the extended state observer (ESO) in an Active Disturbance Rejection Control (ADRC) is limited by the operational load in stepper motor control, which has high real-time requirements and may cause delays. Additionally, the complexity of parameter tuning, especially in high-order systems, further limits the ESO’s performance. This paper proposes a composite ADRC (LTDRO-ADRC) based on a load torque dimensionality reduction observer (LTDRO). Firstly, the LTDRO is designed to estimate abrupt load disturbances that are difficult to compensate for using the ESO. Secondly, the transfer function under the double-closed loop is deduced. Additionally, the LTDRO uses a magnetic encoder to gather the system state and calculate the load torque. It then outputs a compensating current feedforward to the current loop input. This method reduces the delay and complexity of the ESO, improving the response speed of the ADRC speed ring and the overall response of the system to load changes. Simulation and experimental results demonstrate that it significantly enhances dynamic control performance and steady-state errors. LTDRO-ADRC can stabilize the speed again within 49 ms and 17 ms, respectively, in the face of sudden load increase and sudden load removal. At the same time, in terms of steady-state error, compared with ADRC and CADRC, they have increased by 94% and 88%, respectively. In terms of zero-speed starting motors, the response speed is increased by 58% compared to a traditional ADRC.

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“…Active disturbance ejection control (ADRC) has been increasingly widely used in industry [16][17][18][19][20] due to its features, such as the ability to observe system states and disturbances, which can enable positive disturbance suppression. ADRC was first proposed by Han [21].…”

Section: Introductionmentioning

confidence: 99%

Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems

Zhuang,

Li,

Wang

et al. 2024

Actuators

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A multi-channel phase-compensated active disturbance rejection control (MPADRC) incorporating an improved backstepping strategy is proposed in this paper to handle the phase lag in the extended state observer (ESO) and the residual uncertainty in the system. Firstly, a multi-channel phase-compensated ESO (MPESO) is constructed by adding phase-advanced networks to all output channels of the ESO, which allows disturbances and system states to be compensated and feedback in a more timely manner, respectively. Then, to estimate and offset the residual uncertainty in the system, an improved backstepping control method is employed and a Lyapunov function is designed to verify the convergence of the error between the estimated and actual values of the residual uncertainty. After that, the improved backstepping control is combined with MPADRC, and comparisons with the conventional linear active disturbance rejection control (LADRC) are conducted for a range of cases. Finally, on an inertial stabilization platform in the electro-optical tracking system (ETS), simulation and experimental results verified the effectiveness of the proposed method.

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Research on Friction Compensation Method of Electromechanical Actuator Based on Improved Active Disturbance Rejection Control

Cited by 5 publications

References 27 publications

New Control Schemes for Actuators

New Control Schemes for Actuators

Composite ADRC Speed Control Method Based on LTDRO Feedforward Compensation

Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems

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