In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(M...In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(MIMO)systems such as multi-variables,disturbances,and coupling,etc.Firstly,the structure and parameter tuning method of SADRC is introduced into this paper.Followed on this,virtual control variables are adopted into the MIMO systems,making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this,a stability analyzed method via the Lyapunov function is proposed for the whole system.Finally,some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC,and results show SADRC has a potential applications in engineering practice.展开更多
Uncertain friction is a key factor that influences the accuracy of servo system in CNC machine.In this paper,based on the principle of Active Disturbance Rejection Control(ADRC),a control method is proposed,where both...Uncertain friction is a key factor that influences the accuracy of servo system in CNC machine.In this paper,based on the principle of Active Disturbance Rejection Control(ADRC),a control method is proposed,where both the extended state observer(ESO) and the reduced order extended state observer(RESO) are used to estimate and compensate for the disturbance.The authors prove that both approaches ensure high accuracy in theory,and give the criterion for parameters selection.The authors also prove that ADRC with RESO performs better than that with ESO both in disturbance estimation and tracking error.The simulation results on CNC machine show the effectiveness and feasibility of our control approaches.展开更多
基金supported by the Scientific Research Innovation Development Foundation of Army Engineering University((2019)71).
文摘In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(MIMO)systems such as multi-variables,disturbances,and coupling,etc.Firstly,the structure and parameter tuning method of SADRC is introduced into this paper.Followed on this,virtual control variables are adopted into the MIMO systems,making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this,a stability analyzed method via the Lyapunov function is proposed for the whole system.Finally,some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC,and results show SADRC has a potential applications in engineering practice.
基金partially supported by the National Key Basic Research Project of China under Grant No.2011CB302400the National Basic Research Program of China under Grant No.2014CB845303the National Center for Mathematics and Interdisciplinary Sciences,Chinese Academy of Sciences
文摘Uncertain friction is a key factor that influences the accuracy of servo system in CNC machine.In this paper,based on the principle of Active Disturbance Rejection Control(ADRC),a control method is proposed,where both the extended state observer(ESO) and the reduced order extended state observer(RESO) are used to estimate and compensate for the disturbance.The authors prove that both approaches ensure high accuracy in theory,and give the criterion for parameters selection.The authors also prove that ADRC with RESO performs better than that with ESO both in disturbance estimation and tracking error.The simulation results on CNC machine show the effectiveness and feasibility of our control approaches.
