Active Disturbance Rejection Control Reserch On Two Degrees Of Freedom Flexible Mechanism

This paper proposes a kind of active control method on two degrees of freedom minitype flexible mechanism in the small space. Considering that there was little effect for low frequency vibration only to use passive control in limited space, the control method must aimed at the weakening of the maximum external random vibration interference.At first, according to the structural characteristics of two degrees of freedom minitype flexible mechanism, the mathematical model is established. And its vibration characteristic is analyzed by simulation. Next, according to the characteristics of the mechanism, the nonlinear active disturbance rejection controller (ADRC) is designed as the main controller. The performance of the ADRC controller is verified by MATLAB simulation. Then, according to the characteristics of the external vibration interference, the feasibility of adaptive feedforward compensation is derived. To compensate for multiple frequency sinusoidal interference, adaptive feedforward compensation is added as the supplement of the main controller (ADRC). It puts forward a new compound controller called Adaptive Feedforward Compensation Type Active Disturbance Rejection Controller (AFC-ADRC). And the control effect obtained by MATLAB simulation is satisfying.Finally, this paper verifies the application effect in the practical engineering of the algorithm by a series of experiments on the two degrees of freedom minitype flexible mechanism. The physical experiment platform is built. It can be seen that the algorithm is valuable for practical engineering application through the experimental results.