Abstract
Linear active disturbance rejection control (LADRC) algorithm is proposed to realize accurate trajectory tracking for the lever-type electric erection system. By means of system identification and curve fitting, the approximate model is built, which is consisting of the servo drive system with velocity closed-loop and the lever-type erection mechanism. The proportional control law with velocity feedforward is designed to improve the trajectory tracking performance. The experimental results verify that, based on approximate model, LADRC has better tracking accuracy and stronger robustness to the disturbance caused by the change of intrinsic parameters compared with PI controller.
Highlights
In some weaponry and engineering machinery, the erection system is the important part
The tracking error of third-order Linear active disturbance rejection control (LADRC) has the opposite trend, since linear ESO (LESO) is more sensitive to the noise of low-resolution encoder at low speed
In theory, increasing the observer gain and proportional coefficient can reduce the tracking error; this will lead to the erection system chattering with high frequency. These results show that, for the electric erection system, LADRC can control the tracking error within the required range and second-order LADRC has the best tracking accuracy
Summary
In some weaponry and engineering machinery, the erection system is the important part. The force between loads and the actuator is varying and there are friction, parameter variation, and external disturbances. The traditional hydraulic erection system usually uses the multistage hydraulic cylinder as actuator to drive the erection loads, which has shock at changing stage and will affect the rapidity and smoothness of the erection process. Fuzzy sliding mode control [1] and adaptive sliding mode control [2] have been applied to control the erection system. These control algorithms take valvecontrolled cylinder system as the control object with the displacement of the valve core as input and the displacement of the cylinder rod as output. The erection angle is converted from the displacement of the cylinder rod based on the kinematical analysis of the erection mechanism, which always ignores the flexibility of the erection mechanism
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