Active Disturbance Rejiection Controller’s Research And Its Application

The Active disturbance rejection Control (ADRC), as an unconventional designstrategy was first proposed by Han Jingqing. It has absorbed the classical and moderncontrol theory and it does not rely on precise mathematical model of the controlled object.The core of ADRC is to use an Extended state observer (ESO) to estimate the plantdynamically and unknown disturbances in real time and dynamically compensate for it byNonlinear state error feedback (NLSEF). ADRC has been successfully applied in manyfields because of its simpleness, disturbance rejection and strong robustness.Firstly, an overview of the research significance and background of the subject wasgiven. The current development of ADRC was introduced from theory aspect andapplication aspect, respectively.Secondly, the basic theoretical knowledge of Nonlinear active disturbance rejectioncontrol (NADRC) and Linear active disturbance rejection control (LADRC) was presented.NADRC has three main components, including Tracking differentiator (TD), ESO andNLSEF. A series of simulations were carried out to prove the effectiveness of the aboveparts. Then the LADRC was described and its stability and ability to estimate theuncertainty of the system also have been proved. This paves the way for the study contentsof subsequent chapters.Then, a kind of Fuzzy nonlinear active disturbance rejection control (Fuzzy-NADRC)was proposed to control the chaotic phenomenon of Permanent magnet synchronous motor(PMSM) in some cases. The concrete designing process of Fuzzy-NADRC was introducedin this section and some simulations were carried on the chaos model of PMSM. Thecomparison of the simulation results between general NADRC and Fuzzy-NADRCcontrol adequately demonstrated the advantages of Fuzzy-NADRC.Again, NADRC was applied to control a kind of the anti-synchronization of differentstructure chaotic systems and a chaotic particle swarm optimization algorithm (CPSO)was proposed to optimize the parameters of the NADRC. Simulation results showed thatthe CPSO-NADRC put forward in this chapter can effectively control the anti-synchronization of different structure chaotic systems.Finally, in view of the control of a pneumatic force control system, a LADRC wasproposed. An integral part was added to eliminate the static error caused by the varyingtime constant of the gas pressure, relative dead zone of pressure, friction and so on.Experimental results compared with that of PID proved that the Integral-LADRC couldachive faster and more accurate responses, especially when the load signal is ahigh-frequency signal.