An Active Disturbance Rejection Based Approach to Vibration Suppression in Two‐Inertia Systems

This study concerns the resonance problems found in motion control, typically described in a two‐inertia system model as compliance between the motor and the load. We reformulate the problem in the framework of active disturbance rejection control (ADRC), where the resonance is assumed to be unknown and treated as disturbance, estimated and mitigated. This allows the closed‐loop bandwidth to go well beyond the resonant frequency, which is quite difficult using existing methods. In addition, such level of performance is achieved with minimum complexity in the controller design and tuning: no parameter estimation or adaptive algorithm is needed, and the controller is tuned by adjusting one parameter, namely, the bandwidth of the control loop. It is also shown that the proposed solution applies to both the velocity and position control problems, and the fact that ADRC offers an effective and practical motion control solution, in the presence of unknown resonant frequency within the bandwidth of the control system. Finally, frequency response analysis is performed where stability margin is obtained before the simulation results are verified in the hardware experiments

线性自抗扰控制参数整定鲁棒性的根轨迹分析

从极点配置和根轨迹的角度研究了二阶线性定常对象的线性自抗扰控制.提出一个新传递函数框图.基于该框图,将线性自抗扰控制的参数整定解释为闭环极点配置问题,控制器带宽、观测器带宽等参数的整定被看作开环极、零点位置的选择.建议用根轨迹法研究线性自抗扰控制的鲁棒性.通过分析根轨迹定性说明了观测器带宽可以等于控制器带宽,以及线性自抗扰控制对被控对象参数变化的鲁棒性.国家自然科学基金项目(61733017);;福建省自然科学基金项目(2016J01317);;国家留学基金项目(201606315084)资助~

A Robust Decentralized Load Frequency Controller for Interconnected Power Systems

A novel design of a robust decentralized load frequency control (LFC) algorithm is proposed for an inter-connected three-area power system, for the purpose of regulating area control error (ACE) in the presence of system uncertainties and external disturbances. The design is based on the concept of active disturbance rejection control (ADRC). Estimating and mitigating the total effect of various uncertainties in real time, ADRC is particularly effective against a wide range of parameter variations, model uncertainties, and large disturbances. Furthermore, with only two tuning parameters, the controller provides a simple and easy-to-use solution to complex engineering problems in practice. Here, an ADRC-based LFC solution is developed for systems with turbines of various types, such as non-reheat, reheat, and hydraulic. The simulation results verified the effectiveness of the ADRC, in comparison with an existing PI-type controller tuned via genetic algorithm linear matrix inequalities (GALMIs). The comparison results show the superiority of the proposed solution. Moreover, the stability and robustness of the closed-loop system is studied using frequency-domain analysis

Robotics Control Using Active Disturbance Rejection Control

Conventional robotics control has been set in stone since the sixties. The world has been waiting too long for a new age of control to change the world of Robotics. Active Disturbance Rejection Control (ADRC) is a newly reformed Control methodology. It has been used, in very limited applications, as a replacement for PID control. In this thesis, I will cover the different aspects of the kinematics and dynamics of a robotic manipulator. I will also examine the feasibility of using ADRC to control a robotic manipulator. To explain ADRC, a simple example that demonstrates the concepts and theory of Active Disturbance Rejection Control will be discussed. Using this example, the establishment of relevance to the mathematical module of a rotary prismatic robotic manipulator will be accomplished. A control system for the module using Matlab software and mathematical computations will be implemente

ADRC Based Control of Nonlinear Dynamical System with Multiple Sources of Disturbance and Multiple Inputs

In this thesis, we study the stability of Active Disturbance Rejection Control (ADRC) applied to controlling the Lorenz system. The Lorenz system is a nonlinear dynamical system that we attempt to control. In fact, the system is used to model convection flow such as that found in thermosyphons, electric circuits, and lasers. We are stabilizing the Lorenz system along with a few disturbances. Thus, to stabilize this chaotic system, a robust controller is required. The ADRC system is known as as effective method to stabilize a dynamical system. With the help of the Extended State Observer (ESO), the system can be stabilized with the least information about the disturbances. In particular, when the model of the plant is given the system converges asymptotically. Since most physical plants are highly uncertain in the real world, we also establish a second case. When the dynamics of the plant is largely unknown, the errors of the ADRC Controlled Lorenz system is bounded by the observer gains and feedback control gains, which is Lyapunov stable

Dynamics and Control of an Electric Power Assist Steering System

In this thesis an Active Disturbance Rejection Controller (ADRC) is applied to Electrical Power Assist Steering (EPAS) system which assists the driver in steering the steering wheel of an automobile. Our control objective is to reduce the steering torque exerted by a driver, so that good steering feel of the driver will be achieved in the presence of external disturbances and system uncertainties which are very common in the EPAS system. The robustness and stability of ADRC controlled EPAS system is investigated through frequency-domain analyses. The Bode diagrams and stability margins demonstrate that the control system is stable during the operation and it is robust against external disturbances and structural uncertainties. In addition, the ADRC is simulated on a column-type EPAS system. The simulation results show that using the proposed ADRC, the driver can turn the steering wheel with the desired steering torque, which is independent of load torques that tend to vary with the change of driving condition

Robotics Control Using Active Disturbance Rejection Control

Conventional robotics control has been set in stone since the sixties. The world has been waiting too long for a new age of control to change the world of Robotics. Active Disturbance Rejection Control (ADRC) is a newly reformed Control methodology. It has been used, in very limited applications, as a replacement for PID control. In this thesis, I will cover the different aspects of the kinematics and dynamics of a robotic manipulator. I will also examine the feasibility of using ADRC to control a robotic manipulator. To explain ADRC, a simple example that demonstrates the concepts and theory of Active Disturbance Rejection Control will be discussed. Using this example, the establishment of relevance to the mathematical module of a rotary prismatic robotic manipulator will be accomplished. A control system for the module using Matlab software and mathematical computations will be implemente