Abstract
The electromechanical actuator (EMA) attracted much attention due to its high reliability and easy maintenance. However, the performance of EMA suffers from its nonlinear characteristics, which will deteriorate its output accuracy and dynamic response speed. For this reason, this paper proposes a linear active disturbance rejection control (LADRC) method for the EMA. The parameters mismatch and other nonlinearities are defined as the total disturbance of the EMA system, and a linear extended state observer (LESO) is designed to estimate the total disturbance. Then, a linear state error feedback (LSEF) control low is detailed designed, in which the total disturbance is compensated. The stability of the control low is proved through the Routh-Hurwitz criteria. Finally, the effectiveness of the proposed algorithm is verified by numerical simulations. The results indicate that compared with the traditional PI control, the proposed controller shows stronger robustness and higher accuracy.
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