Active disturbance rejection control algorithm for the driven branch chain of a polishing robot

Dong, Kaifeng (avtor), Li, Jun (avtor), Lv, Mengyao (avtor), Li, Xin (avtor), Gu, Wei (avtor), Cheng, Gang (avtor)

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.

• Jezik: Angleški jezik
• Ključne besede: active disturbance rejection control, trajectory tracking, parallel mechanism, driven branch chain
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FS - Fakulteta za strojništvo
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2023
• Št. strani: Str. 509-521
• Številčenje: Vol. 69, no. 11/12
• PID: 20.500.12556/RUL-154135
• UDK: 681.5
• ISSN pri članku: 0039-2480
• DOI: 10.5545/sv-jme.2023.680
• COBISS.SI-ID: 182629891
• Datum objave v RUL: 26.01.2024

Gradivo je del revije

• Naslov: Strojniški vestnik
• Skrajšan naslov: Stroj. vestn.
• Založnik: Zveza strojnih inženirjev in tehnikov Slovenije [etc.], = Association of Mechanical Engineers and Technicians of Slovenia [etc.
• ISSN: 0039-2480
• COBISS.SI-ID: 762116

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.

Sekundarni jezik

• Jezik: Slovenski jezik
• Naslov: Regulacijski algoritem z aktivnim odpravljanjem motenj za gnano verigo polirnega robota
• Ključne besede: ADRC, sledenje trajektoriji, paralelni mehanizem, gnana veriga, PMSM, polirni robot, PID

Projekti

• Financer: Drugi - Drug financer ali več financerjev
• Program financ.: Priority Academic Program Development of Jiangsu Higher Education Institutions (PAPD) and the National Natural Science Foundation of China
• Številka projekta: 52275039