Abstract
Friction nonlinear disturbance is one of the main factors affecting the control performance of servo tracking system. In this paper, an improved Active Disturbance Rejection Control (ADRC) scheme of dual-axis servo turntable is researched to achieve accurate tracking. Firstly, the mathematical dynamics model of dual-axis servo tracking turntable system is established. The Elastoplastic model is used to describe nonlinear friction, in which the immeasurable part is extended to be a new state. Secondly, considering the smooth and monotonic increasing property of hyperbolic tangent function, an improved tracking differentiator is introduced, which can provide better noise attenuation performance. Thirdly, based on adjustable parameter systematic pole placement method, the fuzzy control algorithm is applied to realize the intelligent tuning of the improved Extended State Observer (ESO) gains, in which the input of the fuzzy controller is the estimation error, while the output is the observer bandwidth. Finally, the improved ADRC system is transformed into a Lurie system, then the extended circle criteria are adopted to analyze the absolute stability of the proposed system. Simulation and experimental verification of the improved ADRC method for the dual-axis turntable tracking servo system are conducted. Results illustrate the effectiveness and robustness of the proposed controller.
Highlights
The motor-drive servo turntable is widely used in high-precision tracking radars [1], radio telescopes [2], inertial navigation systems [3], and other equipment that require high tracking accuracy
The results show that when the input gain is multiplied by a positive factor less than a certain threshold, the closed-loop system remains stable and the tracking error is reduced
In order to to compensate compensate for the the influence influence of of nonlinear nonlinear friction friction disturbance on the tracking performance better, a friction friction observer observer is is designed designed based based on on the improved extended state observer (ESO), which regards the immeasurable part of EP friction model as a new state
Summary
The motor-drive servo turntable is widely used in high-precision tracking radars [1], radio telescopes [2], inertial navigation systems [3], and other equipment that require high tracking accuracy. It is of great importance to design a controller for turntable servo system with accurate tracking performance. Extensive research on the electromechanical servo systems have been conducted locally and internationally [4,5,6]. In order to describe the characteristics of servo turntable system in different working conditions, the switched theory based on Constrained Multi-objective Optimization Problem (CMOP) is introduced in [15]. An improved Active Disturbance Rejection Controller (ADRC), mainly given by an improved Tracking Differentiator (TD) and the improved Extended State
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