Active disturbance rejection control of two axis servo turntable

Abstract

Two axis servo turntable could be configured with different functional equipment and instruments to achieve a variety of task applications. It is affected by uncertain and nonlinear factors such as friction, load disturbance and ambient temperature. The control of two axis servo turntable was difficult to establish accurate mathematical model and load disturbance, which brings trouble to application of accurate control. Based on the dynamic modeling and servo control modeling of two axis servo turntable, an active disturbance rejection control which does not depend on the accurate mathematical model of two axis servo turntable was proposed, and active disturbance rejection controller was designed. Two axis servo turntable was simulated under the typical dynamic command input and simulated disturbance environment. The simulation test characteristics of classical PID control and active disturbance rejection control were compared and analyzed. The simulation results show that active disturbance rejection control has better accuracy and adaptability under the same excitation and simulated disturbance environment, and has practical application value.