Physical servo systems are affected by disturbances, uncertainties, and resource restrictions. In this paper, an event-triggered active disturbance rejection control approach is proposed to achieve position tracking of dc torque motors. An event-based sampler together with an extended state observer is introduced, which allows the joint observation of the system state, and the total disturbance induced by model uncertainty and intermittent sampling. Based on the observation results, closed-loop control is achieved with guaranteed stable tracking performance. To quantify the effect of event-based sampling, a quantitative relationship between the asymptotic upper bound of tracking error and the parameters in the event-based sampler is developed. The control strategy is applied to a dc torque motor system, and comparative experimental results indicate that for different reference signals, the proposed event-based control strategy can achieve satisfactory tracking performance with reduced sampling cost.

Event-Triggered Active Disturbance Rejection Control of DC Torque Motors

The key problem in control system design was the selection and processing of information. The first part was to collect some system dynamics offline or online in a cost-effective manner and use them in the controller design effectively. Next was to minimize the phase lag in the feedback loop to ensure best performance and stability. A systematic information-driven design strategy was discussed. A few key problems in permanent magnet synchronous motor control were taken in a case study: the current loop and decoupling, velocity loop with position feedback and position estimation at low speed. An active disturbance rejection based integrated current loop control solution was presented. Some implementation problems were also discussed: restructuring of active disturbance rejection control for implementation, scaling of extended state observer in fixed-point implementation and observer-based parameter estimation. The proposed methods were tested in simulation and hardware experiments.

https://engagedscholarship.csuohio.edu/cgi/viewcontent.cgi?article=2025&context=etdarchive

Information Driven Control Design: A Case for PMSM Control

In PMSM position servo control system, Active Disturbances Rejection Controller (ADRC) is introduced to meet the requirement of high performance position tracking because of the disadvantages of slow response and large error of traditional PID control. In this paper, the friction damping and load torque are taken as disturbance. The load torque compensation of PMSM is realized with the ADRC, which improves the anti-interference ability of the system. Simulation and experiment results show that this method can improve the response speed of the system, reduce the steady-state error, and effectively suppress the influence of load change on the position-tracking accuracy.

Active Disturbances Rejection Controller for Position Servo Control of PMSM

The conventional motor-speed control method is Proportion Integration (PI), which has paradox in overshoot and rapidity. In this paper, a novel speed control method based on the Active Disturbance Rejection Control (ADRC) is proposed, which tracks the speed input signal without overshoot. The main contribution of this paper lies in that simplifying the controller structure by omitting the Tracking Differentiator (TD) module which is critical and inevitable in conventional ADRC. Meanwhile direct error is applied in both Extended State Observer (ESO) and State Error Feedback (SEF) to substitute nonlinear function. The simulative results and experiment results indicate that the performance of the novel ADRC controller proposed in this paper has huge advantage than the conventional PI controller.

A novel Active Disturbance Rejection Control speed controller for PMSM drive

Electric drives have gained much attention in industrial, servo, speed control applications. These applications require accuracy, robustness and dynamic performances. However, in general these drives suffer with load variations, parameter disturbances that may cause unsatisfactory performance in servo, speed control applications. To resolve above-mentioned issues many control methodologies have been reported and many are in process. However, still they suffer with inferior dynamic performance and further they demand exact mathematical modeling. One of the feasible way to recover from the above problems is usage of Active Disturbance Rejection Control (ADRC), as this control method does not require exact mathematical model and can accurately estimates and eliminates the unknown disturbances in the plant. This paper explores a simulative case study of performances of AC drives i.e.., Permanent Magnet Synchronous Motor (PMSM), Induction Motor (IM) and comparative analysis is done on their time responses for different speed and load torque conditions.

Speed control of electric drives using Active Disturbance Rejection Control

An active disturbance rejection control (ADRC) has been applied on both the speed loop and the current loop of permanent magnet synchronous motor (PMSM) drive system to ensure high dynamic performance and enhance steady-state accuracy. By using the extended state observer (ESO), ADRC can accurately estimate the state and the lumped uncertain disturbances accurately without requiring exact mathematic model of system, and adds a feedforward compensation item based on the estimated lumped disturbances to the speed controller and current controller respectively. A simplified ADRC is proposed to reduce complex calculations. The simulation results show that the strategy of both cascade ADRC can realize better dynamic response, such as smaller overshoot and faster transient, and higher precision in the case of variation of the load disturbances and parameters than conventional PID controller.

The simplified active disturbance rejection control for permanent magnet synchronous motor drive system

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The simplified active disturbance rejection control for permanent magnet synchronous motor drive system