TY - GEN
T1 - Optimal Control Method of Motor Torque Loading via Active Disturbance Rejection Control
AU - Zhan, Gan
AU - Zhang, Wencai
AU - Li, Tianzhen
AU - Xin, Zhanhua
AU - Wang, Dong
AU - Dong, Xinyi
AU - Niu, Shaohua
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper provides a optimal control method of motor torque loading using active disturbance rejection control (ADRC) for the problem of insufficient accuracy of motor torque under load. First, the parameters of the tracking differentiator (TD) and the extended state observer (ESO) of the ADCR controller are established and their values are set. Secondly, the control and disturbance compensation are carried out to control the motor according to the given signal and the differential of the given signal obtained by the TD and the error of the system output and output derivative observed by the ESO. Finally, the simulation and experiment results show that the ADRC has great advantages in response speed, anti-interference ability and loading accuracy, and the error accuracy and error range are controlled within pm 0.003Nc m compared with the traditional PID.
AB - This paper provides a optimal control method of motor torque loading using active disturbance rejection control (ADRC) for the problem of insufficient accuracy of motor torque under load. First, the parameters of the tracking differentiator (TD) and the extended state observer (ESO) of the ADCR controller are established and their values are set. Secondly, the control and disturbance compensation are carried out to control the motor according to the given signal and the differential of the given signal obtained by the TD and the error of the system output and output derivative observed by the ESO. Finally, the simulation and experiment results show that the ADRC has great advantages in response speed, anti-interference ability and loading accuracy, and the error accuracy and error range are controlled within pm 0.003Nc m compared with the traditional PID.
UR - http://www.scopus.com/inward/record.url?scp=85140796800&partnerID=8YFLogxK
U2 - 10.1109/WRCSARA57040.2022.9903964
DO - 10.1109/WRCSARA57040.2022.9903964
M3 - Conference contribution
AN - SCOPUS:85140796800
T3 - Proceedings of the 4th WRC Symposium on Advanced Robotics and Automation 2022, WRC SARA 2022
SP - 43
EP - 47
BT - Proceedings of the 4th WRC Symposium on Advanced Robotics and Automation 2022, WRC SARA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th WRC Symposium on Advanced Robotics and Automation, WRC SARA 2022
Y2 - 20 September 2022
ER -