20.500.12556/RUL-154135 Active disturbance rejection control algorithm for the driven branch chain of a polishing robot Regulacijski algoritem z aktivnim odpravljanjem motenj za gnano verigo polirnega robota To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system. active disturbance rejection control trajectory tracking parallel mechanism driven branch chain ADRC sledenje trajektoriji paralelni mehanizem gnana veriga PMSM polirni robot PID true false true Angleški jezik Slovenski jezik Članek v reviji 2024-01-26 10:43:06 2024-01-26 10:43:09 2024-01-27 03:58:18 0000-00-00 00:00:00 2023 0 0 Str. 509-521 no. 11/12 Vol. 69 Nov./Dec. 2023 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5 0039-2480 10.5545/sv-jme.2023.680 182629891 Dong...-Active_Disturbance_Rejection_Control_Algorithm_for_the_Driven_Branch_Chain_of_a_Polishing_Robot.pdf Dong...-Active_Disturbance_Rejection_Control_Algorithm_for_the_Driven_Branch_Chain_of_a_Polishing_Robot.pdf 1 C9C2A39DAE9071AEA256E846D9A042B1 09f76006df22c316eb262fb7045103b0e77783275341d5d655248df45691186a 3c2b2a43-bc30-11ee-9241-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=180335 https://www.sv-jme.eu/sl/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/ 1 54b76c99-bc2f-11ee-9241-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=180334 Fakulteta za strojništvo Strojniški vestnik 0 0 0