Passivity‐Based Control for Rocket Launcher Position Servo System Based on ADRC Optimized by IPSO‐BP Algorithm

Abstract

In order to achieve better motion accuracy and higher robustness of the shipborne rocket launcher position servo system driven by a permanent magnet synchronous motor (PMSM), a passivity-based controller based on active disturbance rejection control (ADRC) optimized by improved particle swarm optimization-back propagation (IPSO-BP) algorithm is proposed in this paper. The convenient method of interconnection and damping assignment and passivity-based control (IDA-PBC) is adopted to establish the port controlled Hamiltonian system with dissipation (PCHD) model of PMSM. To further enhance the robustness and adaptability of traditional ADRC, an BP algorithm is introduced to on-line update the proportional, integral, and derivative gains of ADRC. Furthermore, to improve the learning capability, the improved PSO algorithm is adopted to optimize the learning rates of the back propagation neural networks. The results of numerical simulation and prototype test indicate that the proposed IPSO-BP-ADRC-PBC controller has better static and dynamic performance than the ADRC-PBC and BP-ADRC-PBC controller with fixed learning rate.

Linear Active Disturbance Rejection Control-Based Diagonal Recurrent Neural Network for Radar Position Servo Systems with Dead Zone and Friction

“…c. The LADRC containing the proposed ATD consumes less energy than the LADRC [22,31]; the peak value of the control signal is removed, thus effectively suppressing the influence on the final control element, and it is of great significance in practical application.…”

“…(4) Then (4) can also be written in the following state space equation as Where u c is the input voltage of the motor, R a is the armature resistance, L a is the armature inductance [31], K T is the motor torque coefficient, B is the elastic coefficient, F is the viscous damping coefficient, K P is the power magnification, T L is the load torque, K E is the back electromotive force of the motor, J is the system moment of inertia, θ is the output pointing angle of the load antenna, S is the complex frequency domain, and 1 R a +L a s and 1 Js+F are the output formulas of motor voltage after Laplace transform.…”

Composite ADRC Speed Control Method Based on LTDRO Feedforward Compensation

“…Reference [ 14 ] removes the tracking differentiator (TD) in the first-order ADRC and reference [ 15 ] optimizes the Luenberger Disturbance Observer to develop an ADRC-LOC controller suitable for linear uncertain disturbance systems of any order. Reference [ 16 ] introduced the IPSO-BP algorithm. It utilizes IDA-PBC to establish a PCHD model of the motor, incorporating the BP algorithm to update the parameters of the ADRC in real time.…”

“…Subsequent studies, such as those by references [ 16 ] through [ 27 ], have introduced various algorithmic enhancements and novel approaches, including the integration of genetic algorithms, particle swarm optimization, sliding mode control, and fuzzy logic, to address specific challenges in ADRC implementation, thereby advancing the robustness, adaptability, and performance of ADRC systems.…”

Design and Control of a Three-Coil Permanent Magnet Spherical Motor

“…In particular, the positioning system is designed as a visual servo control system, allowing the gathering of input-output data pairs to build a very accurate artificial neural network architecture [34][35][36][37][38][39][40]. A comprehensive evaluation of the positioning control of the proposed model when engaged in the task of tracking a desired trajectory is reported.…”