Study Of Design And Application For The Active Disturbance Rejection Controller

The active disturbance rejection control technique is just suitable to the trend of digital control and it enriches the thought of classic control that error is used to reduce error. It is also a kind of novel functional control technique developed by absorbing achievements of modern control and non-linear performance. The active disturbance rejection controller is characterized as low overshoot, quick response speed, high control accuracy, excellent anti-interference ability, simple algorithm. Test table is a kind of important equipment for inertial guidance test. It is developed mainly for testing and attitude simulation of gyroscope.This paper studies theory foundation of the active disturbance rejection control technique, and analyzes the structure and principle of tracking-differentiator, extended state observer, non-linear state feedback. Additional attention has been paid not only to the application of tracking-differentiator which is assigning the system zeroes and arranging the transient dynamics, but also to the application of extended state observer which is dynamic linearization.After detailed analysis of the realization of the discrete algorithm for the active disturbance rejection control, the design of the active disturbance rejection control system is aggregated. Then the M file is provided on the purpose of helping parameter tuning, thinking of the difficulties occurred in parameter tuning in simulink environment.Thinking of the problem that when the motor has low-frequency great torque disturbance, using classic method to control test table is very difficult to have high accuracy and can not achieve good control effect, this paper provides an output improvement active disturbance rejection controller for test table. The comparison with classic method and common active disturbance rejection control shows its effectiveness. Thinking of the phenomenon that test table can not work stably and smoothly when it works at a very low speed. This paper introduces Stribeck friction model, and redesigns the active disturbance rejection controller for test table. At last, the contrast between the active rejection control and classic control shows its good control performance.