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

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

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.

• Language: English
• Keywords: active disturbance rejection control, trajectory tracking, parallel mechanism, driven branch chain
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FS - Faculty of Mechanical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2023
• Number of pages: Str. 509-521
• Numbering: Vol. 69, no. 11/12
• PID: 20.500.12556/RUL-154135
• UDC: 681.5
• ISSN on article: 0039-2480
• DOI: 10.5545/sv-jme.2023.680
• COBISS.SI-ID: 182629891
• Publication date in RUL: 26.01.2024

Record is a part of a journal

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

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.

Secondary language

• Language: Slovenian
• Title: Regulacijski algoritem z aktivnim odpravljanjem motenj za gnano verigo polirnega robota
• Keywords: ADRC, sledenje trajektoriji, paralelni mehanizem, gnana veriga, PMSM, polirni robot, PID

Projects

• Funder: Other - Other funder or multiple funders
• Funding programme: Priority Academic Program Development of Jiangsu Higher Education Institutions (PAPD) and the National Natural Science Foundation of China
• Project number: 52275039