Active Disturbance Rejection Control Algorithm Research Of Large-inertia AC Servo System

Based on the design and development of large tracking dome control system,the application of active disturbance rejection control algorithm in AC servo system is studied in order to improve the dynamic performance of tracking dome by large inertia and nonlinear friction.Firstly,the mathematical model of the tracking dome system is established,which includes the model of the servo system and the friction disturbance.The characteristics of the nonlinear friction in the servo system are introduced.The cause of the flat-top phenomenon of the servo system when the servo system is affected by the friction is analyzed by simulation.Then,the principle and structure of the active disturbance rejection control(ADRC)are studied.The application of tracking differentiator in arranging the transient dynamics and extended state observer in real-time estimation of total disturbance and rejection is introduced.According to characteristics of the large tracking dome by large inertia and nonlinear friction,an ADRC controller is designed to improve the dynamic characteristics of the tracking dome system.Simulation results show that ADRC can achieve a higher response speed without overshoot,and reject the influence of nonlinear factors such as friction and saturation.Simulation results show that ADRC can improve the dynamic characteristics of the tracking dome system.Finally,the ADRC method is applied to a theodolite tracking dome control system.The hardware design and software implementation is introduced.Experimental results show that ARDC can reduce the tracking error from 3.4o to 1.1o compared with PD control.It also can achieve a higher response speed without overshoot.The research work of the dissertation proves that ADRC can apply to tracking dome system with good dynamic characteristics,and also provides a new idea for the design of the large-inertial servo system.