The dredger cutter motion control system based on ADRC technology

In order to improve the temperature control effect of nonlinear, large time-delay and inertia space environment simulation equipment, and to solve the contradiction between heating rapidity and overshoot, this paper introduces the Active Disturbance Rejection Control algorithm into space environment simulation temperature control. Based on the platform model, Active Disturbance Rejection Control controller was designed, and the cascade control model of the heat sink gas-nitrogen temperature space environment simulation equipment was established. The cascade control system was simulated on the MATLAB software platform, and the specimen was raised from 0 °C to 100 °C. The step response rise time was about 4000 s. The specimen rise temperature rate is about 1.5°C/min, and the temperature control process is smooth and there is no overshoot. The simulation shows that the Active Disturbance Rejection Control can effectively improve the space environment simulation temperature control effect.

Unmanned helicopter is a typically nonlinear, strong coupling, complex multi-input multi-output system, which has poorly stable reserve and is vulnerable to external interference. To solve this issue, an active-disturbance-rejection controller (ADRC) based design methodology for unmanned helicopter’s attitude control system is proposed. A mathematical model of unmanned helicopter is first established, and its attitude dynamic characteristics are analyzed. Moreover, an ADRC algorithm based attitude controller is designed in the frequency domain, the leading compensation of the system is realized by adjusting the angular rate control parameters of the observer. In addition, the closed-loop simulation test and comparison analysis of attitude control are carried out by PID algorithm and ADRC algorithm, respectively. The results reveal that the ADRC algorithm based attitude controller estimates the system state through the extended state observer, both the bandwidth of the closed-loop control system and the robust stability of the unmanned helicopter are improved.

The paper is focused on improvements of the conventional speed controller based on Active Disturbance Rejection Control (ADRC) applied for a two-mass electric drive system. The described ADRC structure is based on load-side speed measurement. The paper compares conventional structure dynamics with overall system behavior in the case plant parameters are changed. The proposed ADRC algorithm extension performs soft controller parameters adjustment to improve the dynamics and plant response. The presented approach accomplishes adaptation capabilities with the use of a Radial Basis Function Neural Network (RBFNN). The article presents the dynamic response of the plant controlled by the conventional ADRC algorithm and the designed neural adaptation extension. The results are based on the performed experimental tests.

Many issues can degrade the electrical drive performance such as cross-coupling, time delay, external disturbances, and parameter variation. The Synchronous Reference Frame (SRF) PI Current Controller (CC) is the most popular control scheme for the motor drive current control due to its simplicity. However, the PI controller does not have an optimal dynamic response due to the reasonably low transient response of the integral parts. Furthermore, the tuning of the PI controller depends heavily on the machine’s parameters. Recently, alternative control schemes such as Model Predictive Control (MPC) and Active Disturbance Rejection Control (ADRC) are studied due to their dynamic performance and disturbance rejection capability, respectively. This paper presents a comparative study between the conventional PI, ADRC, and MPC control schemes applied for Permanent Magnet Synchronous Motor (PMSM) taking into consideration the operational issues of electrical drives.

In the production process of high-voltage coils, a constant tension control system is designed to improve the quality of the transformer. The system is composed of a controller, execution structure, detection structure, etc. The active disturbance rejection control (ADRC), optimized by the Smith predictor (SP), is adopted to achieve constant tension control. The experiment results show that the tension control system based on the SP-ADRC has higher control accuracy, shorter stabilization time and stronger anti-interference ability compared with the traditional PID algorithm. The actual experiment shows that the constant tension control system of the high-voltage coil winding machine based on SP-ADRC has a superior control effect and high practical value.

Nonlinear active disturbance rejection control is much more effective than linear active disturbance rejection control in tolerance to uncertainties and disturbances. However, it brings a great challenge for theoretical analysis, especially the stability analysis. This article proposes a linear matrix inequality method to analyze the absolute stability of generalized nonlinear active disturbance rejection control form which contains multiple nonlinearities with different parameters in both extended state observer and control law for single-input single-output systems. The generalized nonlinear active disturbance rejection control algorithm and the single-input single-output system are transformed into a direct multiple-input multiple-output Lurie system. A sufficient condition to determine its absolute stability based on linear matrix inequality method is given. The Lyapunov function of the Lurie system exists when the group of linear matrix inequalities is feasible. The free parameters and coefficients in Lyapunov function are given by the solution of these linear matrix inequalities. The electromagnetic valve actuator system in camless engine is presented as an application to illustrate how to perform the proposed method for absolute stability analysis and the stable region of parameter perturbations is obtained via the method. Simulation results show that the linear matrix inequality–based method is convenient and effective to determine whether the closed-loop system is absolutely stable.

Gyro stabilized pod, demanding high tracking precision and stabilization precision, is a nonlinear system. Classical control method is often used in actual system, which is difficult to guarantee high precision and high disturbance rejection ability. According to disturbance characteristics of gyro stabilized pod, this paper presents the active disturbance rejection control (ADRC) algorithm based on the typical structure of two-axis and four-frame. The simulation results show that ADRC controller has advantages of short regulating time, high precision and high disturbance rejection ability. A comparison between ADRC and PID is also presented, which further shows that the ADRC controller is superior to PID controller.

The objective of this paper is to deal with a trajectory tracking of a Quad-rotor unmanned aerial vehicle (UAV). For the model uncertainty, the external disturbance and the coupling factor are considered, an active disturbance rejection control (ADRC) algorithm is introduced into the designing procedure. The aircraft dynamic model is proposed in this article, based on which the closed-loop control system is divided into four independent channels with the coupling factor compensated by the extended state observer (ESO). The nonlinear state error feedback (NLSEF) algorithm is designed in each channel to improve the closed-loop dynamics. In this article, the ADRC controller is expressed in the discrete form. And finally, the simulation results show that the proposed control algorithm achieves a favourable tracking performance.

The active disturbance rejection control is used to design the control scheme for the vertical inverted pendulum system. Based on the original active disturbance rejection control algorithm, a linear/nonlinear switched extended state observer is proposed for such an unstable system with single input and double output, strong nonlinear and strong coupling. Firstly, the reason of the limited ability of nonlinear extended state observer to estimate large perturbations is analyzed, then a linear extended state observer is proposed to make up for the defects of NLESO, and the feasibility of the proposed linear/nonlinear auto disturbance rejection switching control is verified by numerical simulation.

Aiming at the problem that the suspension force under disturbance of the permanent magnet slice rotor is difficult to be accurately detected, a new displacement controller based on the active disturbance rejection control is proposed. Firstly, the mathematic models of torque and suspension forces of the bearingless permanent magnet slice motor (BPMSM) are deduced. Secondly, the active disturbance rejection (ADR) controller is constructed. Thirdly, the BPMSM direct control system based on the ADR controller is built and the simulation is carried out, the correctness of the mathematic model and the control algorithm are verified. Finally, the displacement controller is used for a 4 kW prototype. Compared with the traditional PI controller, the floating stability time and the disturbed recovery time of the slice rotor are both decreased, the vibration displacement of rotor in stable state is reduced by 44%.

Gas flow facilities are essential to test gas flow sensors, meters and other devices. Pressure control is a key problem in particular for high pressure gas flow facilities. An appropriate control scheme is critical to improve the stability and the speed of the pressure control. This paper presents a linear Active Disturbance Rejection Control (ADRC) scheme for high pressure gas flow facilities with closed-loop pipelines. The control model of the flow facility is identified by a step response method. A reduced-order linear expansion state observer and a related control law are designed to estimate and compensate the total disturbance of the system. The robustness of the ADRC algorithm is compared with a PID control algorithm by Monte Carlo simulation. Control speed and disturbance rejection ability of ADRC are also compared with PID through simulation and gas flow experiments. The results show that, compared with PID, ADRC has a shorter settling time, stronger disturbance rejecting capability and more robust performance. The improved pressure stability has been proved to be beneficial to test gas flow sensors in the facility.

The piezoelectric smart structures, which can be labeled as the cream of the crop of smart structures without overstatement, are strongly impacted by a large number of uncertainties and disturbances during operation. The present paper reviews active disturbance rejection control (ADRC) technologies developed for application in piezoelectric smart structures, focusing on measurement, analysis, estimation, and attenuation of uncertainties/disturbances in systems. It first explained vast categories of uncertainties/disturbances with their adverse influences. Then, after a brief introduction to the application of basic ADRC in smart structures, a thorough review of recently modified forms of ADRC is analyzed and classified in terms of their improvement objectives and structural characteristics. The universal advantages of ADRC in dealing with uncertainties and its improvement on the particularity of smart structures show its broad application prospects. These improved ADRC methods are reviewed by classifying them as modified ADRC for specific problems, modified ADRC by nonlinear functions, composite control based on ADRC, and ADRC based on other models. In addition, the application of other types of active anti-disturbances technologies in smart structures is reviewed to expand horizons. The main features of this review paper are summarized as follows: (1) it can provide profound understanding and flexible approaches for researchers and practitioners in designing ADRC in the field and (2) light up future directions and unsolved problems.

Linear active disturbance rejection control (ADRC) is known for its simplicity and its performance in disturbance attenuation. Currently, tuning of linear ADRC is via the bandwidth idea proposed in [1]. It is first shown that there are some limitations using only two bandwidths to tune the linear ADRC controllers. In this paper, tuning of linear ADRC with extra model dynamic information is investigated. It is shown that the available model dynamic information used in generalized ADRC (GADRC) can be realized by the observer gain and the controller gain of the conventional linear ADRC, thus extends the applicability of conventional linear ADRC. Simulation results show that with extra model dynamic information incorporated, by tuning the observer gain and controller gain, the performance of a conventional linear ADRC can indeed be improved, especially for non-minimum phase and time-delayed processes.

Active disturbance rejection control (ADRC) is a robust methodology that does not require precise knowledge of the plant. Developed in China by Professor Jingqing Han, it is based on PID control, state observers, and nonlinear functions. Brushed DC motors are known for their low cost and the noise they introduce into control circuits. This paper demonstrates that ADRC can effectively control low-power brushed DC motors using a general nonlinear model and Simulink for tuning. The model is simulated using parameters provided by the manufacturer. An ADRC developed and programmed by the authors in MATLAB is then integrated into the simulation. The controller is tuned, and its performance is verified. Subsequently, the ADRC is implemented on a Raspberry Pi 3 using MATLAB’s support packages and methods developed by the authors. The controller is tested on a Faulhaber 2342L012CR DC motor (12 V/17 W). The results show that it is possible to control the position of the low-power brushed DC motor through simulation-based tuning. The interaction between Simulink and Raspberry Pi 3 enables an optimal control characterized by a fast response, a minimal steady-state error, and no perceptible overshoot. This implementation demonstrates that ADRC is a practical and efficient control method for brushed DC motors.

Nowadays, Dynamic Positioning (DP) is applied to various tasks such as subsea pipeline laying and the requirements for the positioning performance in marine operations are higher and higher. The main objective of this paper is to design a DP controller based on the Active Disturbance Rejection Control (ADRC) to solve the problems of long response time, large overshoot and low positioning accuracy in ship positioning. Firstly, the mathematical models of the ship and environmental disturbances are established. Secondly, the basic principle of ADRC is described. Meanwhile, stability analysis of the control system is introduced. Thirdly, ADRC is improved by the fal function filter and phase prediction method which solve the problem of dither and phase delay in tracking differentiators. Finally, simulations are carried out to verify the performance of the designed ADRC and the improved ADRC. Several simulation results show that the designed ADRC can realize the fixed-point control of the ship, which effectively solves the problems of long response time, overshoot and positioning accuracy, and compared with the traditional ADRC, the improved ADRC can reduce the error of straight track control, which indicates that ADRC can meet the requirements for the positioning performance and has a strong application value.