Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer
Friction nonlinear disturbance is one of the main factors affecting the control performance of servo tracking system. In this paper, an improved Active Disturbance Rejection Control (ADRC) scheme of dual-axis servo turntable is researched to achieve accurate tracking. Firstly, the mathematical dynam...
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doaj-cbe8957fa0d04be29e3acc3861644d712021-08-26T13:41:51ZengMDPI AGElectronics2079-92922021-08-01102012201210.3390/electronics10162012Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction ObserverQian Zhang0Xu Wu1Qunjing Wang2Dijiang Chen3Chao Ye4School of Electrical Engineering and Automation, Anhui University, Hefei 230601, ChinaNational Engineering Laboratory of Energy-Saving Motor & Control Technology, Anhui University, Hefei 230601, ChinaNational Engineering Laboratory of Energy-Saving Motor & Control Technology, Anhui University, Hefei 230601, ChinaAnhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, Hefei 230601, ChinaThe 38th Research Institute of China Electronics Technology Group Corporation, Hefei 230088, ChinaFriction nonlinear disturbance is one of the main factors affecting the control performance of servo tracking system. In this paper, an improved Active Disturbance Rejection Control (ADRC) scheme of dual-axis servo turntable is researched to achieve accurate tracking. Firstly, the mathematical dynamics model of dual-axis servo tracking turntable system is established. The Elastoplastic model is used to describe nonlinear friction, in which the immeasurable part is extended to be a new state. Secondly, considering the smooth and monotonic increasing property of hyperbolic tangent function, an improved tracking differentiator is introduced, which can provide better noise attenuation performance. Thirdly, based on adjustable parameter systematic pole placement method, the fuzzy control algorithm is applied to realize the intelligent tuning of the improved Extended State Observer (ESO) gains, in which the input of the fuzzy controller is the estimation error, while the output is the observer bandwidth. Finally, the improved ADRC system is transformed into a Lurie system, then the extended circle criteria are adopted to analyze the absolute stability of the proposed system. Simulation and experimental verification of the improved ADRC method for the dual-axis turntable tracking servo system are conducted. Results illustrate the effectiveness and robustness of the proposed controller.https://www.mdpi.com/2079-9292/10/16/2012motor-drive servo systemADRCtracking controlfriction compensation |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Qian Zhang Xu Wu Qunjing Wang Dijiang Chen Chao Ye |
spellingShingle |
Qian Zhang Xu Wu Qunjing Wang Dijiang Chen Chao Ye Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer Electronics motor-drive servo system ADRC tracking control friction compensation |
author_facet |
Qian Zhang Xu Wu Qunjing Wang Dijiang Chen Chao Ye |
author_sort |
Qian Zhang |
title |
Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer |
title_short |
Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer |
title_full |
Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer |
title_fullStr |
Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer |
title_full_unstemmed |
Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer |
title_sort |
improved active disturbance rejection control of dual-axis servo tracking turntable with friction observer |
publisher |
MDPI AG |
series |
Electronics |
issn |
2079-9292 |
publishDate |
2021-08-01 |
description |
Friction nonlinear disturbance is one of the main factors affecting the control performance of servo tracking system. In this paper, an improved Active Disturbance Rejection Control (ADRC) scheme of dual-axis servo turntable is researched to achieve accurate tracking. Firstly, the mathematical dynamics model of dual-axis servo tracking turntable system is established. The Elastoplastic model is used to describe nonlinear friction, in which the immeasurable part is extended to be a new state. Secondly, considering the smooth and monotonic increasing property of hyperbolic tangent function, an improved tracking differentiator is introduced, which can provide better noise attenuation performance. Thirdly, based on adjustable parameter systematic pole placement method, the fuzzy control algorithm is applied to realize the intelligent tuning of the improved Extended State Observer (ESO) gains, in which the input of the fuzzy controller is the estimation error, while the output is the observer bandwidth. Finally, the improved ADRC system is transformed into a Lurie system, then the extended circle criteria are adopted to analyze the absolute stability of the proposed system. Simulation and experimental verification of the improved ADRC method for the dual-axis turntable tracking servo system are conducted. Results illustrate the effectiveness and robustness of the proposed controller. |
topic |
motor-drive servo system ADRC tracking control friction compensation |
url |
https://www.mdpi.com/2079-9292/10/16/2012 |
work_keys_str_mv |
AT qianzhang improvedactivedisturbancerejectioncontrolofdualaxisservotrackingturntablewithfrictionobserver AT xuwu improvedactivedisturbancerejectioncontrolofdualaxisservotrackingturntablewithfrictionobserver AT qunjingwang improvedactivedisturbancerejectioncontrolofdualaxisservotrackingturntablewithfrictionobserver AT dijiangchen improvedactivedisturbancerejectioncontrolofdualaxisservotrackingturntablewithfrictionobserver AT chaoye improvedactivedisturbancerejectioncontrolofdualaxisservotrackingturntablewithfrictionobserver |
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1721193957149376512 |