Robust Reduced-Order Active Disturbance Rejection Control Method: A Case Study on Speed Control of a One-Dimensional Gimbal | |
Wang, Fan1,2,3; Liu, Peng1,2,3; Xie, Meilin1,2,3; Jing, Feng1,2,3; Liu, Bo1,2,3; Cao, Yu1,2,3; Ma, Caiwen1,2,3 | |
刊名 | MACHINES |
2022-07 | |
卷号 | 10期号:7 |
关键词 | reduced-order control active disturbance rejection control (ADRC) disturbance observer (DOB) robust stability one-dimensional gimbal |
ISSN号 | 2075-1702 |
DOI | 10.3390/machines10070592 |
产权排序 | 1 |
英文摘要 | Usually, the order of active disturbance rejection control (ADRC) is equal to the relative order of the plant. To improve the control performance, a robust reduced-order method for ADRC is investigated in this paper. Firstly, frequency domain analysis shows that the lower-order extended state observer (ESO) has a smaller disturbance estimation error, so disturbance attenuation capability can be improved by reducing the order of ADRC. However, using only reduced-order ADRC will worsen the robustness of closed-loop systems. Therefore, a robust ADRC method based on a modified noise reduction disturbance observer (MNRDOB) is proposed. The main role of the MNRDOB is to improve the control performance of the closed-loop system by modifying the structure of the controlled object. In addition, the robust stability of the closed-loop control system based on the MNRDOB is discussed. Moreover, some simulations are used to demonstrate the robustness and noise suppression effects of the compound control method reduced-order ADRC with MNRDOB, and the parameter tuning method for the MNRDOB to improve the robustness of the system is given. Finally, some experiments on speed control of a one-dimensional gimbal are performed, and the results show that the proposed method is excellent in overshoot, tracking accuracy, and disturbance attenuation. |
语种 | 英语 |
出版者 | MDPI |
WOS记录号 | WOS:000832257700001 |
内容类型 | 期刊论文 |
源URL | [http://ir.opt.ac.cn/handle/181661/96085] |
专题 | 西安光学精密机械研究所_光电测量技术实验室 |
通讯作者 | Ma, Caiwen |
作者单位 | 1.Chinese Acad Sci, Key Lab Space Precis Measurement Technol, Xian 710119, Peoples R China 2.Univ Chinese Acad Sci, Sch Optoelect & Mat Sci, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Xian Inst Opt & Precis Mech, Xian 710119, Peoples R China |
推荐引用方式 GB/T 7714 | Wang, Fan,Liu, Peng,Xie, Meilin,et al. Robust Reduced-Order Active Disturbance Rejection Control Method: A Case Study on Speed Control of a One-Dimensional Gimbal[J]. MACHINES,2022,10(7). |
APA | Wang, Fan.,Liu, Peng.,Xie, Meilin.,Jing, Feng.,Liu, Bo.,...&Ma, Caiwen.(2022).Robust Reduced-Order Active Disturbance Rejection Control Method: A Case Study on Speed Control of a One-Dimensional Gimbal.MACHINES,10(7). |
MLA | Wang, Fan,et al."Robust Reduced-Order Active Disturbance Rejection Control Method: A Case Study on Speed Control of a One-Dimensional Gimbal".MACHINES 10.7(2022). |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论