A New Mechanical Resonance Suppression Method for Large Optical Telescope by Using Nonlinear Active Disturbance Rejection Control

Li, Xin; Zhou, Wenlin; Luo, Jie; Qian, Junzhang; Ma, Wei; Jiang, Ping; Fan, Yongkun

doi:10.1109/access.2019.2928050

Cited by 14 publications

(4 citation statements)

References 28 publications

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“…To address this problem, Gao et al (2002;Gao 2003;Zheng & Gao 2016) proposed the linear ADRC (LADRC) by reducing the number of parameters and bandwidthizing the controller parameters, making the ADRC controller more easily tuned. ADRC has been successfully applied to many motion control systems, and it has also been studied for speed control of optical telescopes, and sound control results have been achieved (Wang et al 2017;Li et al 2019;Yang et al 2021).…”

Section: The Velocity Loop Controllermentioning

confidence: 99%

Active Disturbance Rejection-based Double-loop Control Design for Large Antenna's Servo System

Li,

Wang,

Liu

et al. 2023

PASP

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Radio astronomical observations put stringent requirements on the tracking and pointing accuracy of radio telescope antennas. High inertia, low stiffness, underdamped, and multi-resonant frequencies of a large aperture radio telescope’s antenna make the high-accuracy control difficult. It is not easy to satisfy control performance using only conventional PID controllers. A low-order Active Disturbance Rejection-based double-loop controller for large antenna is designed in this paper and tested on the Green Bank Telescope model. First, the first-order Linear Active Disturbance Rejecting Controller (LADRC) cascading a first-order low-pass filter and a notch filter is designed for the antenna’s velocity loop to achieve the dual-objective optimal velocity tracking. Second, the position loop controller is designed to realize the antenna’s position-tracking control by combining the PD controller and a low-pass filter. Further optimization of the position-loop controller helps improve the dynamic performance of the system. The simulation results indicate that the response curves of the proposed PD-LADRC control are smother than those of the Quantitative Feedback Theory (QFT) based controller; the settling time of the PD-LADRC system is 10.1 s and reduces by about 8.2 s than that of the QFT. While using a better position controller reduces settling time to 5 s. The PD-LADRC system also has better wind-disturbance rejection; the worst disturbance response reduces at the gearbox by 68.3% and 60% at the dish, and the recovery time reduces by more than 15 s than the QFT-based controller. In addition, besides easier parameter tuning, the proposed PD-LADRC has better robustness to systematic parameter perturbations and minor tracking error rms in position tracking.

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Section: The Velocity Loop Controllermentioning

confidence: 99%

Active Disturbance Rejection-based Double-loop Control Design for Large Antenna's Servo System

Li,

Wang,

Liu

et al. 2023

PASP

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“…In the literature, control structures for complex mechanical systems are widely found for two-mass systems equipped with a single controllable drive [1][2][3][4]. The use of a twosided drive is a less widespread solution that requires the development of a new structure and control algorithms to coordinate the operation of both drives [5][6][7][8]. It is required to develop a different control system with the multiple input-multiple output (MIMO) structure, with two outputs delivering excitation signals for the plant.…”

Section: Introductionmentioning

confidence: 99%

Recursive Neural Network as a Multiple Input–Multiple Output Speed Controller for Electrical Drive of Three-Mass System

Zawirski,

Brock,

Nowopolski

2023

Energies

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Electrical drive systems are commonly applied for the mechanisms of precise movement, where having a high-quality position and high-quality speed control is especially valuable. Very often, the mechanical part of these systems reveals resonant properties that are related to the limited stiffness of the interconnection between subsequent parts of the mechanism. In most cases, this sort of system may be described as a model of several linked masses. If only the structure of the mechanical part is known and the corresponding parameters are constant and identified, the demanded control quality may be obtained using a properly tuned ADRC or PID controller equipped with appropriate anti-resonance filtration. However, if the parameters of the mechanical part are variant, adaptive control may be considered as a solution. In this paper, artificial neural network (ANN) is considered to be a speed controller and its training method assures adaptation to the unknown mechanical parameters. The paper is particularly focused on a three-mass system, which possesses, due to its structure, two resonant frequencies. The unique property of the analyzed system is the application of drive units at both ends of the system, so that the controller has the ability to influence the resonant system from both sides. The coordination of the drive unit is performed by the aforementioned ANN, from which two outputs affect the drive units independently. The derivation of the mathematical model is followed by its implementation in a computer simulation and finally the evaluation in a dedicated laboratory setup, the construction of which is also presented in the paper.

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“…SEA is challenging of its dynamics of two-mass-spring system, which can be considered as an equivalent system for a very common vibration system in industrial application such as vehicle suspension 10 and large optical telescope. 11 Therefore, the control of the SEA system is a conventional control problem in industry. This benchmark problem has been studied for a long time.…”

Section: Introductionmentioning

confidence: 99%

On practical solutions of series elastic actuator control in the context of active disturbance rejection

Chen

Gao

2021

Adv Control Appl

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In this paper, customized series elastic actuator (SEA) force and position control solutions are proposed to achieve high performance while keeping the bandwidth low. In the context of active disturbance rejection, the higher the bandwidth of extended state observer, the more robust and accurate the closed‐loop performance. However, high bandwidth requires high sampling frequency and low measurement noise, leading to higher cost in practice. It is shown in this paper that the bandwidth can be lowered without sacrificing performance by incorporating additional information into the design, including not only the entire known SEA model information but also angle measurements of both the motor and the load. In addition, this allows both matched and mismatched disturbances, at the motor and the load side respectively, to be estimated and mitigated in real time, thus making the design more robust. Simulation results verify the effectiveness and robustness of the proposed approach.

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A New Mechanical Resonance Suppression Method for Large Optical Telescope by Using Nonlinear Active Disturbance Rejection Control

Cited by 14 publications

References 28 publications

Active Disturbance Rejection-based Double-loop Control Design for Large Antenna's Servo System

Active Disturbance Rejection-based Double-loop Control Design for Large Antenna's Servo System

Recursive Neural Network as a Multiple Input–Multiple Output Speed Controller for Electrical Drive of Three-Mass System

On practical solutions of series elastic actuator control in the context of active disturbance rejection

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