Improved Adaptive Linear Active Disturbance Rejection Control for Precise Position Control in Permanent Magnet Linear Synchronous Motor

No-lapping concentrated windings permanent magnet linear synchronous motor (PMLSM) which possesses notable advantages such as big thrust force density, short winding head and small magnetic resistance is the preferred drive motor on Linear motor cordless upgrade system. In the paper 15 slots 16 poles PMLSM has been taken as example. On the basis of d-q dual-response theory, key parameters such as the motor resistance of q-axis (quadrature) and d-axis (direct) have been calculated by Finite Element Method. Thus mathematic model of PMLSM steady-state analysis has been built. PMLSM performances such as current, thrust force, power factor, efficiency, and electric power brake force affecting by supply voltage and ambient temperature change have been studied respectively both on load condition and no-load condition. The experiment results agree with theoretical analysis, with good prospects of permanent magnet (PM) linear synchronous motor for design and application of ropeless elevator.

Permanent magnet synchronous linear motor (PMLSM) has excellent performance and wide application, but its special structure makes it sensitive to external disturbance. This paper aims at the disturbance problem of X-Y motion platform driven by PMLSM under actual operating conditions. In the cross-coupling control strategy, the input command is compensated by the coupling control quantity between axes, and the linear active disturbance rejection controller (LADRC) is applied to the position loop in the three-loop control strategy to suppress the external disturbance and reduce the influences caused when the coupling control quantity is compensated to the uniaxial servo system. Finally, it is verified by Simulink. The simulation results show that the LADRC-based disturbance compensation method has better dynamic performance than the traditional cross-coupling control, and the contour control accuracy is higher.

To improve the robustness and the anti-disturbance of control system, regulate its stiffness, a scheme concluding linear active disturbance rejection controllers for pneumatic servo system is proposed. Two linear active disturbance rejection controllers are designed respectively to track the motion and pressure reference. The design of a linear active disturbance rejection controller is independent of precisely mathematical model of the system. The extended state observer can track successfully the states and extended state of the system, and it is possible to realize the states feedback and handle the model uncertainty and compensate external disturbance. The simulation results show that pneumatic servo system based on linear active disturbance rejection controllers is robust against modeling uncertainty and external disturbances. The dynamic performance of the system using linear active disturbance rejection controllers also can be improved as well.

Active disturbance rejection control (ADRC) has been widely used in the permanent magnet linear synchronous motor (PMLSM) drive system for its strong anti‐disturbance ability and fast response speed. However, a large number of adjustment parameters add difficulties to its application. To solve this problem, a novel sliding mode‐based active disturbance rejection control (SM‐ADRC) with autotuned parameters is proposed in this paper. In this control strategy, the SM is incorporated with extended state observer (ESO) and nonlinear state error feedback (NLSEF) to reduce the number of adjustment parameters. The simulated annealing particle swarm optimization (SAPSO) algorithm is carried out to achieve the optimal configuration and realize parameter self‐tuning. The experimental results of the PMLSM speed servo system demonstrate the proposed control method has better suppression of chattering effect, disturbance rejection ability and fast dynamic response. © 2023 Institute of Electrical Engineer of Japan and Wiley Periodicals LLC.

A new transfer model vehicle system for automatic horizontal transport, especially in short-turning-area applications, has been developed in the authors' laboratory. It is driven by permanent magnet (PM) linear synchronous motors (LSMs), and can operate efficiently in orthogonally-crossed-guideway network in mass-reduced mode. This paper presents a fundamental study of the PM LSM vehicle running on such network guideways with two crossings. The experimental results have shown a good agreement of the vehicle motion with the demand pattern in network running operation.

To enhance the control performance and improve the disturbance rejection capability of the manipulator, a Linear Active Disturbance Rejection Control (LADRC) method with self-tuning parameters is proposed, based on the improved dung beetle optimizer (LCDBO). LADRC can estimate and compensate for the unmodeled dynamics and external disturbances in the system as a total disturbance. However, its parameters are strongly coupled and difficult to tune. Therefore, this paper introduces the improved dung beetle optimizer. Lévy flight and Cauchy mutation strategies are incorporated into the standard dung beetle optimizer (DBO) to further boost the optimizer’s performance and realize the optimal adjustment of the LADRC parameters. Applied to the manipulator trajectory tracking control problem, the LCDBO algorithm achieves a faster convergence speed and higher solution precision compared to the original DBO algorithm. When the controller parameters optimized by the LCDBO algorithm are applied to the manipulator trajectory tracking problem with disturbance torques, it results in high trajectory tracking accuracy and excellent disturbance rejection performance.

Aiming at the problem of anti-swing and positioning of underactuated crane, this paper proposes a control strategy of underactuated bridge crane based on Linear Active Disturbance Rejection Control and controller parameter optimization method. Distinguished from other conventional control strategies of bridge crane, this method does not require any approximate decoupling or linearization of the crane model and allows the model to have some certain uncertainty, friction and air resistance of the system are also considered. At the same time, for the parameter tuning problem of the sensors, the bird swarm optimization algorithm is applied to optimize the parameters. And the excellent control performance of this method has been proved by simulation.

This paper presents a robustness study of a Linear Active Disturbance Rejection Control (LADRC) framework. A dynamic simulative study is carried out on a two-wheeled differential drive mobile robot (DDMR) velocity control. A dynamic model of the robot with actuators has been considered, including uncertain parameters and a coupling between the linear and angular velocities, and the two angular velocities, the robot motion is also a subject of external disturbances which can degrade the performance of classical controllers. However, In LADRC, the unmeasured dynamics and external disturbances are considered as an additional state variable, it is then estimated by a linear Extended State Observer (LESO) and compensated in the control law. The simulation results show the efficiency of proposed LADRC-based controller in the reduction of the effect of dynamic variations. The LADRC robustness is compared with a proportional-integral-derivative controller (PID). Better results in terms of disturbance rejection have been reported for the LADRC.

A set of tuning rules for Linear Active Disturbance Rejection Controller (LADRC) with three different levels of compromise between disturbance rejection and robustness is presented. The tuning rules are the result of a Multiobjective Optimization Design (MOOD) procedure followed by curve fitting and are intended as a tool for designers who seek to implement LADRC by considering the load disturbance response of processes whose behavior is approximated by a general first-order system with delay. The validation of the proposed tuning rules is done through illustrative examples and the control of a nonlinear thermal process. Compared to classical PID (Proportional-Integral-Derivative) and other LADRC tuning methods, the derived functions offer an improvement in either disturbance rejection, robustness or both design objectives.

Linear motor eliminates the middle part of mechanical drive train, but because of structural characteristics of itself, must to take effective measures to reduce thrust fluctuations, or direct drive will lost its original meaning. In this paper, firstly research on detent force of moving magnet type permanent magnet synchronous linear servo motor and analyze the principle of generate detent force, secondly analyze the cogging force of moving magnet type permanent magnet synchronous linear motor and obtain the expression of cogging force maximum value, finally propose effective method to reduce detent force.

Remotely operated vehicles (ROVs) face challenges in achieving optimal trajectory tracking performance during underwater movement due to external disturbances and parameter uncertainties. To address this issue, this paper proposes a position and attitude control strategy for underwater robots based on a reinforcement learning active disturbance rejection controller. The linear active disturbance rejection controller has achieved satisfactory results in the field of underwater robot control. However, fixed-parameter controllers cannot achieve optimal control performance for the controlled object. Therefore, further exploration of the adaptive capability of control parameters based on the linear active disturbance rejection controller was conducted. The deep deterministic policy gradient (DDPG) algorithm was used to optimize the linear extended state observer (LESO). This strategy employs deep neural networks to adjust the LESO parameters online based on measured states, allowing for more accurate estimation of model uncertainties and environmental disturbances, and compensating the total disturbance into the control input online, resulting in better disturbance estimation and control performance. Simulation results show that the proposed control scheme, compared to PID and fixed parameter LADRC, as well as the double closed-loop sliding mode control method based on nonlinear observers (NESO-DSMC), significantly improves the disturbance estimation accuracy of the linear active disturbance rejection controller, leading to higher control precision and stronger robustness, thus demonstrating the effectiveness of the proposed control strategy.

Proportional Derivative Integral (PID) controllers are extensively used in most of the industrial applications. But often, PID frame work fails to address some serious issues like susceptibility to noise, instability due to integral term etc. On the other hand Active Disturbance Rejection Control (ADRC) addresses these issues quite successfully. The problem considered in this work is to control Automatic Voltage Regulator (AVR) with Linear ADRC (LADRC) under presence of plant parameter uncertainties and sudden load variations.A fifth-order Extended State Observer (ESO) was designed which estimates generalized disturbance which includes both system uncertainties and external disturbances. This information is used to actively cancel the effects of disturbances. The effectiveness of LADRC scheme has been illustrated by comparing with conventional PID tuning method in the presence of plant parameter and sudden load variations. Further to study the frequency response characteristics of control system, transfer function of LADRC has been derived. From the simulations it can be observed that there is significant improvement in system response which can be reconfirmed from the frequency response analysis.

An automated commissioning procedure is proposed to tune the electrical and mechanical parameters of a linear surface-mounted permanent magnet synchronous motor drive, which is under vector control. The key tuning technique is to utilize a measure on the degree of distortion of controller output waveforms, which is developed from the first-order Walsh function series coefficient. The controller parameters are subsequently tuned based on the identified parameters and the pole-placement technique. An experimental prototype is implemented to test the validity of the proposed approach. Simulation and experimental results confirm the effectiveness of the proposed method in commissioning the vector-controlled linear permanent magnet synchronous motor drives.

Active disturbance rejection control for nanopositioning: A robust U-model approach

Thrust performance is one of the important indexes of permanent magnet linear synchronous motors. The traditional non-oriented silicon steel sheet is used as the core material of the permanent magnet linear synchronous motor, which limits the performance of the permanent magnet linear synchronous motors. For the oriented silicon steel sheet has a higher magnetic permeability in the rolling direction, a permanent magnet linear synchronous motor with similar number of poles and slots made of oriented silicon steel is proposed in this paper. By measuring the B-H curves of the rolling direction and the cutting direction, the thrust properties of the two motors made of traditional silicon steel sheets and oriented silicon steel sheets are analyzed and compared by the finite element method (FEM) under rated load and overload conditions respectively. The thrusts under different tooth-yoke ratios are discussed in the end.