Active Disturbance Rejection Control of Five-Phase Motor Based on Parameter Setting of Genetic Algorithm

Offshore operational environments are inherently stochastic, with waves, currents, and wind loads exerting a significant influence on vessel attitude and equipment stability. While Stewart platforms enable active motion compensation, conventional control strategies frequently suffer from time delays, actuator lag, and limited disturbance rejection, resulting in inadequate performance under complex sea conditions. To overcome these limitations, this paper presents a wave compensation control strategy for a Stewart platform that integrates deep learning-based prediction with active disturbance rejection control (ADRC). A bidirectional long short-term memory (BiLSTM) network is developed to predict vessel attitude in advance. The predicted attitude is transformed into actuator displacement commands through the inverse kinematics of the Stewart platform. An ADRC-based displacement controller is then designed to achieve fast and robust compensation under wave disturbances. Six-degree-of-freedom (6-DOF) dynamic models of a catamaran and a Stewart platform are established in Simulink and Simscape, and sea states 2, 4, and 6 are simulated using an enhanced Joint North Sea Wave Project (JONSWAP) wave spectrum. The simulation results show that, compared with Proportional–Integral–Derivative (PID) and ADRC methods, the proposed BiLSTM-ADRC strategy reduces the roll root mean squared error (RMSE) by 76.6% and 73.2%, and pitch RMSE by 64.1% and 58.1%, respectively, demonstrating an improved attitude stabilization performance.

This manuscript introduces an innovative Maximum Power Point Tracking (MPPT) strategy to improve the efficiency of Wind Energy Conversion Systems (WECS) equipped with Permanent Magnet Synchronous Generators (PMSG) under variable wind conditions. The proposed approach integrates Active Disturbance Rejection Control (ADRC) with the Perturb and Observe (P&O) algorithm, effectively addressing challenges such as external disturbances and fluctuating wind environments. By combining ADRC with P&O control, the system achieves enhanced tracking performance and adaptability.To validate the added value of this approach, we compare it with a traditional P&O strategy combined with Proportional Integral (PI) control. For the PI-based method, controller parameters Kp and Ki are optimized using Genetic Algorithm (GA) and Ant Colony Optimization (ACO) to enhance control precision. The Integrated Time Absolute Error (ITAE) objective function is employed to fine-tune these parameters, further optimizing system performance. Our analysis underscores the superiority of ADRC in disturbance rejection and quick adaptability over the PI approach.The proposed strategy is tested under two distinct wind speed profiles—constant and fluctuating—through time-domain simulations in MATLAB/Simulink. Simulation results confirm the superior performance of the ADRC-P&O method, highlighting its effectiveness in maximizing power extraction from wind energy and proving its potential for real-world applications. This study offers a significant advancement in wind energy technology by providing a robust and efficient solution for MPPT in WECS.

High-speed and high-precision position servo system of permanent magnet synchronous motor (PMSM) is the key part of the research and development of the manipulator’s joint. The active disturbance rejection control (ADRC) is one of the commonly used methods in the position servo system, which has the advantages of fast speed and easy physical realization. However, the existing ADRC mostly adopts the three-loop structure of position-speed-current, which has some problems such as slow positioning response, poor positioning accuracy, and poor load adaptability caused by difficult parameter tuning. Therefore, a new load adaptive two-loop drive system based on an improved position-speed integrated ADRC with a parameter fuzzy self-tuning method is proposed. In order to verify the effectiveness of the scheme, a test platform for a Selective Compliance Assembly Robot Arm (SCARA) is established. The results show that the drive system designed by the proposed method has high positioning accuracy, fast positioning response, and adaptability to load changes.

An active disturbance rejection control (ADRC) controller using phase-locking loop observer (PLLO) is proposed in this paper to improve the disturbance rejection property of speed control system. First, to simplify the comparison with other controllers, a universal speed controller design method based on disturbance estimation is employed, and a unified expression for different controllers is presented. Then, several common speed controllers are compared with each other, and two PLLO-based ADRC controllers are presented. After that, considering the variations of load inertia, robustness of the proposed ADRC system to inertia variation is analyzed. Finally, to improve the tracking performance for sinusoidal speed reference, an adaptive speed control system using identified inertia is presented. Simulation and experimental results verify the effectiveness of the proposed method.

Permanent magnet synchronous motor (PMSM) is widely used in aerospace, new energy electric vehicles and other fields. In order to solve the problems of poor parameter adaptability and poor disturbance resistance in the PMSM speed control system with traditional PI control algorithm, a linear active disturbance rejection control (LADRC) algorithm for PMSM is proposed in this paper. Then, the physical meaning of each parameter in LADRC and the setting scheme are summarized according to the phenomena encountered in the experimental. Simulation and experiment show that the proposed scheme can improve the robustness of PMSM speed control system.

This study focuses on the AC excitation control system of variable speed pumped storage units (VSPSU) based on active disturbance rejection control (ADRC). First, the mathematical model of VSPSU is proposed considering the effects of the inverter. Then a second‐order ADRC is presented as well as an AC excitation control system based on the stator flux oriented control in order to control the active and reactive power of the VSPSU. For verification, a simulation system of VSPSU with the proposed ADRC is built in real‐time digital simulator. The simulation results show that the proposed control system can achieve the control of the output power of VSPSU both in generating mode and pumping mode and the controller takes on good dynamic performance and robustness.

In order to further improve the control ability of dynamic positioning ship or platform under complex sea conditions, the controller and thrust allocation system of dynamic positioning are designed. A simplified three-degree-of-freedom MMG mathematical model is established for the pod full-rotation propeller used in most dynamic positioning ships. On the basis of retaining the advantages of active disturbance rejection control, the sliding mode variable structure control method is adopted to design the control law. The objective function and constraints of thrust allocation are designed based on the lowest energy consumption, and the sequential quadratic programming algorithm is used to calculate the real-time thrust allocation of each propeller. The simulation results of the ship dynamic positioning system in MATLAB show that the controller can maintain the stability and robustness of the system under the condition of external environment disturbance, and the results of the thrust allocation are reasonable, which has a certain reference value for the further study of the ship dynamic positioning control system.KeywordsSliding mode controlDynamic positioning systemThrust allocationSequential quadratic programming

Aim at the actual engineering requirements of wind power operation and maintenance under complex sea conditions, a control method of the active wave compensation system for maintenance ships based on the Stewart platform is presented. The kinematics of the platform is analyzed, and the coordinate transformation, pose, and inverse solutions are analyzed and calculated. The multi-body dynamics simulation model is established by using MATLAB. For the problem of the load nonlinearity and strong coupling of the nonlinear Stewart platform, an active wave compensation active disturbance rejection control (ADRC) is built to attain the high-precision control of the six-degree-of-freedom (6-DOF) Stewart platform. The numerical simulation shows that the proposed control scheme has good tracking accuracy and strong anti-interference ability.

This paper presents a parameters tuning method based on the genetic algorithm for an active disturbance rejection controller (ADRC) of a hydraulic spherical motion actuator. The dynamic model of the hydraulic spherical motion actuator derived by Lagrange approach is evidently a nonlinear coupling system with parameters time-varying and model uncertainties, which will inevitably influence the tracking performance. To improve the trajectory tracking performance, a robust ADRC based on genetic optimization, which consists of a nonlinear tracking differentiator, extended state observer, and nonlinear state error feedback, is proposed. Utilize the genetic algorithm to optimize the parameters of the ADRC automatically. In the process of ADRC parameter optimization, the evaluation function is established, in which the dynamic performance and the input constraints of the controller are comprehensively considered. Finally, the effectiveness of the proposed approach is validated via the simulation results.

A multi-strategy pigeon-inspired optimization approach to active disturbance rejection control parameters tuning for vertical take-off and landing fixed-wing UAV

An attitude decoupling controller based on linear active disturbance rejection control (LADRC) is designed for small quadrotor aircraft, considering the problems existing in the controller based on active disturbance rejection control (ADRC), such as complicated design and parameters tuning difficulties in project implementation. First, the nonlinear and couple model of small quadrotor aircraft were established, and the LADRC was introduced, which described the principles of the ability of decoupling rejection control for multiple-input and multiple-output (MIMO) system and tuning method, then the model was decoupled. After that, the attitude controller based on second-order LADRC is designed and parameters is turned according to the desired settling time. F. Finally, the simulation test of the design was carried out. The simulation results indicate that the designed controller has strong robustness and anti-disturbance performance, and does not have accurate models. Moreover, there is only one parameter needs tuning in this controller, which makes the design easy to be realized and shows great engineering value.

In this paper, a robust adaptive control scheme using feedback linearization control (FLC) technique and active disturbance rejection control (ADRC) to achieve strong anti- disturbance performance for induction motor (IM) drive. Firstly, a FLC is developed to ensure the IM drive stability. As a result of model uncertainties, unmodeled dynamics and exogenous disorder, the control system performance can be affected. Aiming to improve the anti-disturbance performance, an extended state observer (ESO) is developed for estimating the total disturbances and states of the IM drive. To optimize the behavior of the ADRC, an action dependent heuristic dynamic programming (ADHDP) online strategy is employed for self- tuning of ESO parameters optimally and iteratively improving the estimation accuracy. Thus, critic and actor neural networks are adopted to solve the Hamilton-Jacobi-Bellman (HJB) equation online. At the same time, actor neural network provides the optimal control performance. The validity of the proposed FLC-ADRC scheme based on the optimal adaptive ESO via ADHDP approach is verified experimentally. The test results verify that the FLC-ADRC can make the IM drive follow the reference trajectory quickly and accurately and grants robust control performance regardless of uncertain dynamics as well as interior and exterior disorders.

In this paper, a coaxial twin rotor unmanned helicopter is taken as the research object to study the anti disturbance problem during the homing approach and landing phases of unmanned aerial vehicles. In order to improve the anti disturbance performance of coaxial helicopters against external disturbances, an active disturbance rejection controller (ADRC) is selected to design the attitude control law for coaxial helicopters in the marine landing environment. An improved particle swarm optimization algorithm was designed to optimize the parameters of the active disturbance rejection control law. The simulation results show that the improved particle swarm optimization algorithm can significantly improve the parameter tuning speed and accuracy; The auto disturbance rejection control law with optimized parameters has good dynamic response and robustness in strong interference environments.

The performance of proton exchange membrane fuel cells is very sensitive to temperature. The electrochemical reaction results directly in temperature variations in the proton exchange membrane fuel cell. Ensuring effective temperature control is crucial to ensure fuel cell reliability and durability. This paper uses active disturbance rejection control in the thermal management system to maintain the operating temperature and the stack inlet and outlet temperature difference at the set value. First, key cooling system modules such as expansion tanks, coolant circulation pumps and radiators based on Simulink were built. Then, physical modeling and simulation of the fuel cell cooling system was carried out. In order to ensure the effectiveness of the control strategy and reduce the parameter tuning workload, an active disturbance rejection control parameter optimization method using an elite genetic algorithm was proposed. When the optimized control strategy responds to input disturbances, the maximum overshoot of the system is only 1.23% and can reach stability again in 30 s, so the fuel cell temperature can be controlled effectively. Simulation results show that the optimized control strategy can effectively control the stack temperature and coolant temperature difference under the influence of stepped charging current without interference or with interference, and has strong robustness and anti-interference capability.

Current research on active flutter suppression considering time delays tends to focus on fixed time delays. To address situations where the control loop may experience time-varying delays with uncertainty, a time-varying-delay Active Disturbance Rejection Control (TVD-ADRC) is proposed. First, a parameterized unsteady aerodynamic reduced-order model (ROM) based on a long short-term memory network is introduced into the aeroservoelastic modeling. This model is applied to predict unsteady aerodynamic forces and aeroservoelastic (ASE) behaviors across a wide range of Mach numbers. Its effectiveness in capturing the characteristics of unsteady aerodynamics is validated through comparisons with the high-fidelity computational fluid dynamics (CFD) simulations. Second, the proposed method integrates ADRC with a delayed input and a time-delay identification module in the controller design. Specifically, the time-varying delay is identified using the cross-correlation function method with a moving window, and this method dynamically updates the time-delay compensation module. Additionally, a genetic algorithm is employed to optimize controller parameters, and the integral of the time-weighted absolute error is selected as the performance evaluation index for the control system. Finally, a three-degree-of-freedom aeroservoelastic system of an airfoil with a trailing-edge control surface is studied for flutter suppression. Flutter control under uncertain time-varying delays during flutter occurrence is investigated, and the impact of the magnitude of the time delay on the effectiveness of the flutter control is analyzed. Simulation results indicate that the proposed TVD-ADRC controller could effectively suppress the aeroelastic instabilities across a wide range of Mach numbers and effectively counteract the negative effects of time-varying delays.