Motion Control Experimental Platform Software Design And Implementation Of Active Disturbance Rejection Control Algorithm

With the development of Active Disturbance Rejection Control(ADRC)theory,ADRC has been gradually applied to the field of industrial automatic control.However,due to the limitations of the knowledge structure,engineer frequently encounter some problems in combining theory with practice.A practice platform for quickly verifying active disturbance rejection control algorithms is designed to free users from single-task abstract theory learning.The practical platform creates favorable conditions for knowledge innovation and technological innovation,and it is also the main manifestation of the innovation results of this paper.The direct current(DC)motor servo motion control experiment platform was taken as the research object.First,based on ADRC algorithms,simulation was conducted on the Matlab platform and the ADRC theory was systematically reviewed to study in detail the Tracking Differentiator,Extended State Observer and Nonlinear State error Feedback control law in ADRC.Based on this,the Linear Active Disturbance Rejection Control(LADRC)method was further studied and the characteristics of the two control algorithms were expounded theoretically.Next,the servo motion control platform was taken as the controlled object for modeling,the control effects of the three algorithms of PID,ADRC,and LADRC were compared through Matlab simulation,and the parameter setting law of the LADRC algorithm was summarized.Upon a comparison of the control results,it was found that the LADRC had the advantages of easy implementation,strong anti-interference,and a wide application range.Based on this,the control effects of the first-order LADRC and the second-order LADRC on the DC motor servo system were further discussed.The simulation results show that when the order of the LADRC does not match the order of the controlled object model,the system can still reach the steady-state set value.Admittedly,when two orders are matched,the LADRC has a better control effect.Based on the satisfactory simulation results,we developed a virtual simulation and actual control software based on C# language in Visual Studio for the LADRC algorithm,and implemented the LADRC speed single-closed loop,speed-current double-closed loop and position-speed-current triple-closed loop control strategies.The experimental results revealed that the controller based on LADRC has good effectiveness and feasibility.Based on the ideal simulation results,virtual simulation corresponding to the LADRC algorithm and the upper computer software for actual control were developed in C# language in Visual Studio,and the LADRC speed single-loop,speed-current dual-loop,position-speed-current three-loop control strategies,etc.were implemented and verified on the servo motion control platform.The experimental results show that the LADRC algorithm presents good effectiveness and feasibility.