Servo system control based on LADRC with parameter identification

Abstract

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.