Active Disturbance Rejection Control of Cascade Inertia Systems

作者：Li, Xiang-Yang^*; Ai, Wei; Tian, Sen-Ping

来源：Acta Automatica Sinica, 2018, 44(3): 562-568.

DOI：10.16383/j.aas.2018.c160568

• Active disturbance rejection controls
• Control system architecture
• Disturbance observer
• Extended state observer
• Modular functions
• Nonlinear cascades
• Performance of systems
• Three-degree-of-freedom (3-DOF)

For the control problem of nonlinear cascade inertia systems with uncertainties, an extended state observer (ESO) for cascade inertia systems is presented, which can directly estimate the extended state of the cascade inertia system and also arrange the poles of the controlled plant to the desired places. Based on this ESO, an active disturbance rejection control (ADRC) for cascade inertia systems is presented to take full advantage of the known knowledge of the controlled plant. This paper also gives the relationship of both ADRC for cascade inertia system and disturbance observer (DOB)-based control. The two control methods share the same control system architecture and modular functions of three-degree of freedom (3-DOF) and both can estimate and compensate the total disturbance excluding desired model. Simulation results verify the effectiveness of the proposed methods. ESO for cascade inertia systems can estimate the system's total disturbance and ADRC for cascade inertia systems can realize good performance of system output tracking the reference input.

• 出版日期2018-3-1
• 单位华南理工大学