Active disturbance rejection control of three-motor synchronous control system

On the basis of model analysis of the three-motor synchronous control system, a control method based on active disturbance rejection controller (ADRC) is proposed and applied into the three-motor synchronous control system. Double channels compensation of extended state observer (ESO) is used to estimate and compensate the total disturbance of system, the coupling between speed and tensions, that an approximate linearization and deterministic system is obtained. With optimization of ADRC, the computation load is reduced and the practicability is greatly enhanced while faster dynamic response is kept at the same time. The experiments of decoupling property, tracking performance and anti-disturbance performance were completed on the platform constructed combined with SIMATIC S7-300 power PLC. The results of experiment indicates that: the control system realizes the better decoupling control of speed and tension, has better performances of dynamic and static characteristics, stronger anti-interference ability and better robustness.