Active disturbance rejection control algorithm for the driven branch chain of a polishing robot

Kaifeng Dong (Avtor), Jun Li (Avtor), Mengyao Lv (Avtor), Xin Li (Avtor), Wei Gu (Avtor), Gang Cheng (Avtor)

Povzetek

To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system.

Ključne besede

active disturbance rejection control;trajectory tracking;parallel mechanism;driven branch chain;

Podatki

Jezik:	Angleški jezik
Leto izida:	2023
Tipologija:	1.01 - Izvirni znanstveni članek
Organizacija:	UL FS - Fakulteta za strojništvo
UDK:	681.5
COBISS:	182629891
ISSN:	0039-2480
Št. ogledov:	15
Št. prenosov:	3
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Sekundarni jezik:	Slovenski jezik
Sekundarni naslov:	Regulacijski algoritem z aktivnim odpravljanjem motenj za gnano verigo polirnega robota
Sekundarne ključne besede:	ADRC;sledenje trajektoriji;paralelni mehanizem;gnana veriga;PMSM;polirni robot;PID;
Vrsta dela (COBISS):	Članek v reviji
Strani:	str. 509-521
Letnik:	ǂVol. ǂ69
Zvezek:	ǂno. ǂ11/12
Čas izdaje:	Nov./Dec. 2023
DOI:	10.5545/sv-jme.2023.680
ID:	22635480