Abstract
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.
Highlights
The erection system is an important component of weaponry and engineering machinery, such as the rocket launcher and the dump truck
Simulation and experimental results indicate that reduced-order linear active disturbance rejection control (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 high-gain tracking differentiator (HGTD)
The normal LADRC consists of tracking differentiator (TD), linear extended state observer (LESO), linear state error feedback (LSEF), and disturbance rejection (DR)
Summary
The erection system is an important component of weaponry and engineering machinery, such as the rocket launcher and the dump truck. The trajectory tracking accuracy could be affected by variation in erection loads, resolution of sensors, and other disturbances. Many nonlinear control methods are developed to achieve high accuracy trajectory tracking, such as the adaptive integral robust controller [1], the adaptive backstepping controller with modified LuGre model [2], and the adaptive repetitive controller [3]. Traditional erection systems are usually hydraulically driven by multistage hydraulic cylinder, which has long strokes and shock during the process of changing stage. With the improvement of servo motor and drive mechanism, the electric cylinder can be used as the actuator in the electric erection system [6]. Considering the modeling uncertainties, varying loads, and low-resolution encoder of the experimental platform in this paper, traditional linear controllers are difficult to satisfy the performance demands in terms of tracking accuracy and robustness.
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