The Design And Realization Of A Tracking Equipment Servo Control System Based On ADRC

With the design of the tracking equipment's servo control system in the background, the application of Auto Disturbance Rejection Controller (ADRC) in servo control system has been researched in the paper and ADRC has been used in the design of the tracking equipment's servo control system.Firstly, the text summarized the research status quo of servo control system at home and abroad recently. The choice of control structure, control mode, control method and hardware of the tracking equipment's servo control system has been given and the test platform has been built.Secondly, the development and theory of Auto Disturbance Rejection Controller has been well studied. The innovative in design and feasibility application of ADRC has been proved. The ADRC is composed by Tracking differentiator (TD), Extended State Observer (ESO) and Nonlinear State Error Feedback (NLSEF). TD can give the tracking signal and differential coefficient signal of the input signal. TD also can better restrain yawp. ESO can equal to feedback linearization and translate the system to integral in series by compensating the uncertainty and nonlinear of the system. NLSEF realized the nonlinear control, which can be achieved by Nonlinear PID. ADRC has been designed for the tracking equipment and the system is simulated by Matlab. The text gives a method of tuning ADRC parameters which is suit to be used in engineering.Thirdly, the internet application has been designed base on the characters which are fast response speed, good tracking stability, good tracking exactitude and the theory of ADRC. The parameters of the tracking equipment have been tuned, and the test result proved the validity of the application of ADRC, the hardware and software of the system.