scholarly journals Position Control with ADRC for a Hydrostatic Double-Cylinder Actuator

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 112
Author(s):  
Bin Wang ◽  
Hengyu Ji ◽  
Rui Chang
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Dynamic Performance ◽  
Control Performance ◽  
Fuzzy Pid ◽  
System A ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Actuation Scheme ◽  
Hose Model

A compact and flexible hydraulic double-cylinder actuation scheme is proposed for use in applications, especially where power density is extremely demanding. In view of flexible amounting requirements, long and thin hoses were utilized to connect two cylinders. Affecting the actuation preciseness, volume variation of the hoses caused by pressurized oil and bubbles was the main problem the system encountered. In this study, an active disturbance rejection control (ADRC) strategy was adopted for the improvement of displacement control performance under uncertain external load. After the experimental verification of the necessity of a hose model for the system, a centralized-parameter hose model was constructed where the coefficients are determined on the basis of the experimental data. Additionally, the system and the controller proposed were mathematically modeled. Simulation results shows that the system using ADRC exhibited higher displacement accuracy and better dynamic performance than that using PID (Proportion-Integral-Derivative) or fuzzy PID. ADRC has a stronger disturbance rejection ability. ADRC is an effective solution to nonlinear control of systems with uncertain parameters or various loads.

Active Disturbance Rejection Control in Airborne Direct Drive Electro Mechanical Actuator Application

2014 ◽  
Vol 551 ◽  
pp. 541-547
Author(s):  
He Song Liu ◽  
Yong Ling Fu ◽  
Juan Chen ◽  
Hui Chen
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Dynamic Performance ◽  
Active Disturbance Rejection Control ◽  
Control Performance ◽  
Direct Drive ◽  
Active Disturbance Rejection ◽  
Load Disturbance ◽  
Disturbance Rejection Control ◽  
Actuator Application

A novel active disturbance rejection control (ADRC) strategy is presented to improve position control performance of airborne direct drive electro-mechanical actuator (EMA). To begin with, kinematics model of the direct drive EMA is deduced for simulation benefits. Then, an ADRC controller is designed to implement the position control. Finally, simulation work is put forward to verify the steady-state precision, dynamic performance and load disturbance rejection ability, accounting for over-running load. The results verify that the ADRC-based EMA servo system is fast, precise, of no overshoot and strongly robust to load disturbance.

scholarly journals Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Suiyuan Shen ◽  
Jinfa Xu
Keyword(s):  
Flight Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
External Disturbance ◽  
Parameter Tuning ◽  
Adaptive Genetic Algorithm ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Better Than

The internal uncertainty and external disturbance of the quadrotor will have a significant impact on flight control. Therefore, to improve the control system’s dynamic performance and robustness, the attitude active disturbance rejection controller (ADRC) of the quadrotor is established. Simultaneously, an adaptive genetic algorithm-particle swarm optimization (AGA-PSO) is used to optimize the controller parameters to solve the problem that the controller parameters are difficult to tune. The performance of the proposed ADRC is compared with that of the sliding mode controller (SMC). The simulations revealed that the dynamic performance and robustness of the ADRC is better than that of the SMC.

scholarly journals Research on Permanent Magnet Synchronous Motor Speed Control System Based on Three-Order Linear Active Disturbance Rejection Controller

2020 ◽  
Vol 5 (4) ◽  
Author(s):  
Zhipeng Chen ◽  
◽  
Huazhang Wang ◽  
Wei Zheng ◽  
◽  
...  
Keyword(s):  
Permanent Magnet ◽  
Disturbance Rejection ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Control Algorithms ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Advantages And Disadvantages ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Linear active disturbance rejection control (three-order LESO+PD control) and fuzzy PID control strategies are used to simulate the same permanent magnet synchronous motor with variable speed (constant load) and variable load (constant speed), by observing and analyzing the oscilloscope waveform data and waveform changes in Matlab/Simulink, we can compare the control performance of the two control algorithms under different conditions. By comparing the waveform changes of the oscilloscope, it is found that LADRC has more advantages in real-time than fuzzy PID, and the fluctuation is smaller after stabilization. However, the linear auto disturbance rejection control algorithm is more likely to cause overshoot, and it is not as easy to master as fuzzy PID in parameter adjustment. The two control algorithms have their own advantages and disadvantages.

scholarly journals Cascaded control for balancing an inverted pendulum on a flying quadrotor

Robotica ◽  
2016 ◽  
Vol 35 (6) ◽  
pp. 1263-1279 ◽  
Author(s):  
Chao Zhang ◽  
Huosheng Hu ◽  
Dongbing Gu ◽  
Jing Wang
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Inverted Pendulum ◽  
Active Disturbance Rejection Control ◽  
Control Performance ◽  
Linear Quadratic ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Strong Robustness

SUMMARYThis paper is focused on the flying inverted pendulum problem, i.e., how to balance a pendulum on a flying quadrotor. After analyzing the system dynamics, a three loop cascade control strategy is proposed based on active disturbance rejection control (ADRC). Both the pendulum balancing and the trajectory tracking of the flying quadrotor are implemented by using the proposed control strategy. A simulation platform of 3D mechanical systems is deployed to verify the control performance and robustness of the proposed strategy, including a comparison with a Linear Quadratic Controller (LQR). Finally, a real quadrotor is flying with a pendulum to demonstrate the proposed method that can keep the system at equilibrium and show strong robustness against disturbances.

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