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首页> 外文期刊>Mathematical Problems in Engineering >Improved Linear Active Disturbance Rejection Control for Lever-Type Electric Erection System with Varying Loads and Low-Resolution Encoder
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Improved Linear Active Disturbance Rejection Control for Lever-Type Electric Erection System with Varying Loads and Low-Resolution Encoder

机译：负载变化和低分辨率编码器的杠杆式电力架设系统的改进线性主动干扰抑制控制

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摘要

The lever-type electric erection system is a novel kind of erection system and the experimental platform in this paper operates with varying loads and low-resolution encoder. For high accuracy trajectory tracking, linear active disturbance rejection control (LADRC) is introduced. An approximate model, consisting of the servo system configured at velocity control mode and the lever-type erection mechanism, is built by means of system identification and curve fitting. Reduced-order LADRC based on the further simplified model is proposed to improve tracking accuracy and robustness. As comparisons, traditional LADRC and PID with high-gain tracking differentiator (HGTD) are designed. Simulation and experimental results indicate that reduced-order LADRC can realize higher trajectory tracking accuracy with low-resolution encoder and has better robustness to variation in erection loads, compared with traditional LADRC and PID with HGTD.
机译：杠杆式电力架设系统是一种新型的架设系统，本文的实验平台可在变化的负载和低分辨率编码器下运行。为了进行高精度的轨迹跟踪，引入了线性有源干扰抑制控制（LADRC）。通过系统识别和曲线拟合，建立了一个近似模型，该模型由配置为速度控制模式的伺服系统和杠杆式安装机构组成。提出了基于进一步简化模型的降阶LADRC，以提高跟踪精度和鲁棒性。作为比较，设计了具有高增益跟踪微分器（HGTD）的传统LADRC和PID。仿真和实验结果表明，与传统的LADRC和带有HGTD的PID相比，降阶LADRC可以使用低分辨率编码器实现更高的轨迹跟踪精度，并且对安装负载的变化具有更好的鲁棒性。

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