The Research And Analysis Of Three Mass Torsion System Based On Active Disturbance Rejection Control

Flexible drive is widely used in daily life and industrial fields such as the magnetic head of the memory,the arm of the robot,the drive shaft of the internal combustion engine,etc.The change of the load speed easily causes the fatigue and vibration of the drive shaft,which not only affects the working efficiency of the equipment,but also increases the safety hazard.In this paper,the flexible drive system is simplified to a three-mass torsion system.The ADRC is analyzed and established.The ADRC is used to control the speed of the three-mass torsion system,so as to restrain the disturbance and speed oscillation of the three-mass torsion system in the process of rotation.Firstly,theoretical analysis and MATLAB simulation of three components of ADRC,namely,the TD,the ESO and the NLSEF are carried out,and the characteristics of these three parts are analyzed.The common nonlinear functions of ADRC are given.The advantages of the ADRC applied to the three mass torsion object are discussed.The parameters of the ADRC are empirically tuned considering factors such as noise,disturbance,and integral step size.The composition of the three mass torsion system was analyzed.The differential equation of three-mass torsion system is established by Newton’s law.The mathematical model of threemass torsion system is obtained by mechanism modeling and experimental modeling,and the characteristics of the system are analyzed.The simulation program of ADRC is compiled on Simulink,and the three-mass torsion control system is simulated by choosing appropriate parameters.The accuracy of the model and simulation is verified by comparing the experimental results with the simulation results.Using Automation Studio Target for Simulink module,the simulation model of ADRC in Simulink is transformed into C code of Automation Studio.The signals with different frequencies and waveforms are input and tested on Automation Studio,and the experimental results are analyzed.By comparing ADRC with PID and notch filter,the simulation results show that the overshoot decreases by 89.6% and 82.8%,the adjustment time of 1＿error decreases by26.2% and 46.1%;the overshoot decreases by 58.7% and 71.9% with 3% disturbance,the adjustment time of 1 error decreases by 22% and 38.4%;the ADRC has better stability by changing the coefficient and order of transfer function.Visualization module is used to design VNC interface and mapp View technology to write Web pages.The two kinds of human-computer interaction interfaces can realize the functions of speed monitoring of three mass blocks,setting of ADRC parameters,alarming of dangerous factors and diagnosing of three mass torsion systems.The design of human-machine interaction provides a reference for the application of ADRC to three-mass torsion system.