In order to suppress the common nonlinear characteristics in the large inertia servo system, based on the designed LADRC, this paper uses the total disturbance estimation and compensation process in the LADRC to improve the robustness and anti-interference performance of the control system. However, when there is control gain uncertainty and control parameter mutation in the servo system, although the linear active disturbance rejection controller can restrain the influence of these uncertainties on the control system to a certain extent, it will impose a great burden on the observation performance of the extended state observer, and its observation performance will inevitably be affected, which may lead to the decline of the control performance of the whole system. Therefore, a linear auto-disturbance rejection controller based on parameter identification compensation is designed in this paper. The results of parameter identification are used to compensate the known disturbances in the control system. The robustness and disturbance rejection performance of the controller are verified by the hardware-in-the-loop platform. The experiment shows that the designed controller is effective and improves the robustness and disturbance rejection performance of the servo system.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.