Journal
IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS
Volume 56, Issue 1, Pages 876-889Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIA.2019.2955664
Keywords
Servomotors; Noise measurement; Torque; Bandwidth; Compounds; Sensitivity; Tuning; Active disturbance rejection control (ADRC); electromechanical actuator (EMA); noise rejection; servo system
Funding
- Natural Science Basic Research Plan in Shaanxi Province of China [2018JQ5187]
- Key Research and Development Plan of Shaanxi Province [2017KW-ZD-05, 2018GY-185]
- Fundamental Research Funds for the Central Universities [3102019PB004]
- 2017 Young Talent Fund of Association for Science and Technology in Xi'an and Shaanxi Key Laboratory of Small and Special Electrical Machine and Drive Technology
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Electromechanical actuator (EMA) exhibits advanced performance in industry, but its dynamic servo responses are constrained by parametric perturbations, load torque variations, and measurement noise. A strong disturbance rejection ability is necessary for EMAs. However, this usually makes them more sensitive to the measurement noise, reducing the steady-state precision. In this article, an adaptive linear active disturbance rejection control (LADRC) controller is proposed to achieve strong antidisturbance performance and reduce noise sensitivity for EMAs. A novel parallel structure is proposed to improve dynamic responses, which replaces the traditional cascade structure of position and speed loops. Aiming to improve the antidisturbance performance, a linear full-order-extended state observer is integrated with the parallel controller, called the LADRC controller. To reduce the difficulty of parameter tuning, the number of tuning parameters of LADRC is reduced to two by a pole placement design. And these two parameters of LADRC can be adjusted adaptively by the hyperbolic tangent function. Finally, the simulation and experimental results are provided to verify the effectiveness of the proposed strategy for EMAs.
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