Active Disturbance Rejection Control Technology Research Articles

The application of virtual synchronous generator technology in inertial control of new energy vehicle power generation

Introduction: With the rapid development of human society and economy, the power generation technology of various new energy vehicles has begun to receive widespread attention.Methods: Due to the lack of inertia and frequency stability in the new energy vehicle power generation system, this paper proposes a power generation control method that combines linear active disturbance rejection control technology and virtual synchronous generator technology. This method first introduces the control strategy and inertial response of the virtual synchronous generator. Then, it uses linear active disturbance rejection control technology to improve the virtual synchronous generator technology to deal with the uncertainty and external interference in the system.Results: The results showed that when the virtual inertia coefficient was 0, and the new energy vehicles would hardly intervene in the regulation of the grid voltage. When the virtual inertia coefficient was 5, the decline rate of the DC bus voltage of new energy vehicles had slowed down. When the virtual inertia coefficient increased, the power output of new energy vehicles can be increased to the grid. When the load suddenly increased, and the corresponding DC bus voltage decreased more slowly. In the VSG output power comparison, under the research method, the frequency fluctuation only increased by 0.09 Hz and returned to the rated frequency of 50 Hz. Additionally, the dynamic process of the system output power was the shortest, lasting only 0.05 s.Discussion: The above results show that the research method has significant superiority and effectiveness in improving the inertial response and overall stability of the new energy vehicle power system.

A new passive‐based active disturbance rejection control for PMSG system with saturation constraints

AbstractThe disturbance in wind energy conversion system has a serious negative impact on the maximum power tracking performance of the system, and the saturation constraint problem also seriously restricts the stability of the control system. Therefore, a novel model compensation passive‐based active disturbance rejection control strategy is proposed to suppress the disturbance and saturation constraints, thus improving the tracking performance of the permanent magnet synchronous generator system in this paper. Taking advantage of the fact that active disturbance rejection control technology can estimate and compensate for the disturbances of the system in real time, a model compensation active disturbance rejection control method is proposed to make the system more robust to the changes in its own parameters and external disturbance. At the same time, the control input signal of the controller is given. A model compensation passive‐based active disturbance rejection controller is designed by using the passive control method, and the nonlinear sector method is introduced to solve the saturation constraint problem of the system. Simulation results show that the control strategy can effectively reduce overshoot, improve the system's response speed, have a good anti‐interference ability, and effectively suppress the influence of saturation constraints on the system.

Super-Twisting Sliding Mode Active Disturbance Rejection Control of Permanent Magnet Synchronous Motor Based on Vector Control

The vector control speed regulation system of the permanent magnet synchronous motor founded on traditional control has some weaknesses of poor rapidity and robustness, and it is hard to satisfy the current control requirements. A new control method combining active disturbance rejection control technology with improved super-twisting sliding mode control technology (STSM-ADRC) comes up. In active disturbance rejection control, the tracking differentiator is simplified; the extended state observer is designed to observe all internal and exterior disturbances of the system; the improved super-twisting sliding mode control law is going to take the place of the error feedback control law; and the simulation is carried out. Compared with the existing control algorithms, this new control method can overcome the influence of load disturbances and track the given speed effectively. And the responsiveness and robustness of the system are strengthened.

Design and Analysis of an Energy-Saving Exoskeleton for Carrying Torso-Borne Loads

Carrying a load can affect human locomotion and increase the risk of musculoskeletal injuries. In this paper, we proposed a method inspired by the running posture of ungulate species to reduce metabolic energy by controlling load motion. We developed an energy-saving exoskeleton with an active load CoM adjustment system, which enables accurate control of load CoM acceleration using active disturbance rejection control (ADRC) technology. Finally, we tested the energy-saving exoskeleton system, and the results showed an <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$8.82 \pm 4.19\%$</tex-math></inline-formula> decrease in the integrated EMG signals of rectus femoris, as well as an <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$8.21 \pm 3.85\%$</tex-math></inline-formula> reduction in net metabolic rate. These findings validate the effectiveness of our energy-saving exoskeleton.

An Intelligence Attitude Controller Based on Active Disturbance Rejection Control Technology for an Unmanned Helicopter

To solve the problems of complex parameter tuning of traditional active disturbance rejection controller (ADRC) and low adaptive ability of extended state observer, this paper designs a novel intelligent attitude controller based on active disturbance rejection control technology. The adaptive radial basis function neural network can improve the adaptability of the extended state observer, and the fuzzy control can adjust the parameters of the state error nonlinear control law online. The intelligent ADRC controller can eliminate the influence of internal and external disturbances on the unmanned helicopter, and reduce the difficulty of controller parameter tuning. Based on the intelligent ADRC controller, this paper designs an intelligent attitude control system for a small unmanned helicopter and completes the attitude control test. The corresponding test results demonstrate that the intelligent attitude controller has excellent anti-disturbances, robustness and tracking ability, and the control effect is better than that of the traditional ADRC controller.

Review of Control Algorithms of Vehicle Anti-lock Braking System

Background: Automobile anti-lock braking system (ABS) is an important part of the vehicle active safety control system, which is widely used in all kinds of vehicles. At present, the research of ABS mainly focuses on the study of the control algorithm, which is intended to improve the stability, robustness, and adaptability of the control algorithm. Objective: In the future, it is necessary to explore adaptive robust control algorithms that adapt to extreme conditions such as high nonlinearity and sudden road changes, such as active disturbance rejection control technology, deep learning neural network control technology, etc. Method: According to the research status of domestic and foreign researchers in the field of ABS control algorithms, ABS control algorithms are mainly divided into two categories: control methods based on logic thresholds and control methods based on slip ratio. Results: The comparative study of ABS control methods shows that the logic threshold control method has strong maneuverability and simple implementation, but its adaptability is poor. Sliding mode control has strong robustness and good transient response, but chattering needs to be suppressed. Although the PID control algorithm is simple and easy to implement, it needs to improve the transient response of the system.

Research on active disturbance rejection control of the main steam temperature of supercritical thermal power unit based on improved particle swarm optimization

The stability of the boiler’s main steam temperature is very important for the safe operation of the unit. At present, the mainstream PID control scheme is simple to use and convenient to set, but it cannot accomplish a acceptable ascendancy effect in the face of the main steam temperature control structure; with a long time delay, large inertia. In view of this situation, first of all, this paper introduces the linear active disturbance rejection control (LADRC) technology in a steam temperature control structure. The main loop adopts the linear active disturbance rejection controller and the subloop adopts the P-controller. Then, the particle swarm optimization algorithm is improved and used to modify the parameter of the LADRC, so that the LADRC system adjusted according to the theory can better complete the control task. Finally, a simulation to control the temperature is given, and the results show that the LADRC control system can track quickly and stably; in addition, as against with this traditional PID control strategy, it can achieve strong anti-interference performance.

Active disturbance rejection controller design for alleviation of gust-induced aeroelastic responses

This paper develops an active disturbance rejection control technology that uses the equivalent input disturbance (EID) approach to reduce the aeroelastic vibrations and structural loads caused by wind gusts. The influence of gust disturbance is evaluated by the EID estimator and actively compensated in the control input channel, giving a high disturbance rejection performance of the aeroelastic system. The suitable design of the state observer and low-pass filter is essential for the disturbance estimation and rejection. However, the conventional low-pass filter simply specified by a cutoff frequency may lead to a degraded estimation performance. To this end, a new structure of low-pass filter is proposed, and the design algorithms for the observer gain and filter parameters are also given. By specifying bandwidth constraints, the control system with guaranteed performance can be automatically generated. Numerical results show that for the acceleration measurement-based control, the proposed design method can achieve better disturbance estimation performance than that obtained by the conventional one, resulting in smaller gust responses. Finally, the proposed design method is further extended to the folding wing parameter-varying system. A parameterized version of the EID-based controller is constructed by using the concept of gain-scheduling. It is demonstrated that the gust responses can be significantly reduced in the entire range of folding angle. This study provides an effective solution for gust alleviation of the aeroelastic system with fixed or variable configurations.

Intelligent Attitude Fault-Tolerant Control of Space Tumbling Target Fly-Around Based on RBF Neural Network

The flying around monitoring task of space tumbling target is one of the key links of its on-orbit service. Considering the practical constraints of system inertia uncertainty, external disturbance, actuator saturation, and fault in engineering practice, a robust composite controller based on radial basis function (RBF) neural network is proposed. First, in a new line of sight rotation (RLOS) coordinate system, the relative attitude kinematics and dynamics equations between the tracker and tumbling target based on the error quaternion are established; second, the RBF neural network is used to estimate the additive and multiplicative faults of the system, and the fast nonsingular terminal sliding mode surface (FNTSMS) is combined with the active disturbance rejection control (ADRC) technology to design a finite-time fault-tolerant control (FTC) strategy with high accuracy, strong robustness, and anti-saturation based on the RBF neural network. It is proven that the designed robust fault-tolerant controller can ensure that the system state error converges to a small region containing the origin in a limited time under the Lyapunov framework. Finally, the effectiveness and superiority of the control strategy were verified by numerical simulation.

Current Control Method of Vehicle Permanent Magnet Synchronous Motor Based on Active Disturbance Rejection Control

Due to the frequently changing working conditions and complex operating environment of electric vehicle permanent magnet synchronous motor(PMSM), the motor parameters change dramatically. However, the performance of the PI current regulator, which is the most widely used, is sensitive to motor parameters and has weak robustness, which will lead to the deterioration of motor control system performance. To address this problem, active disturbance rejection control (ADRC) technology is applied to the PMSM current loop control. Firstly, the traditional ADRC current regulator is designed, and the performance and parameter tuning laws of the extended state observer are analyzed by the method of frequency domain analysis. Then, the traditional ADRC algorithm is improved in three aspects: observation error compensation, utilization of model information and anti-windup. After that, simulations and bench test validation are performed. The simulation results show that the improved ADRC current regulator is more robust in the face of parameter changes. The torque step test results show that the improved ADRC current regulator has fast dynamic response without overshoot and has high robustness when the motor parameters change. The dynamic test results show that the improved ADRC current regulator has high robustness when the load, speed and motor parameters change, and the anti-windup measures designed can effectively overcome the integral saturation phenomenon.

Research on Speed Regulation performance of switched reluctance Motor based on nonlinear active disturbance rejection

Abstract The state has vigorously advocated new energy electric vehicles in recent years. Compared with other motors, switched reluctance motor has the advantages of superior speed regulation performance, low production cost and strong controllability. However, due to its double salient structure, it is easy to produce magnetic circuit saturation, and its control is non-linear, which is easy to lead to large torque ripple and strong noise. To solve this problem, a control strategy combining active disturbance rejection control and direct torque is proposed to suppress torque ripple. A simulation model is built and calculated with simulation software. At the same time, it is compared with PI control and fuzzy PID control under direct torque control. Finally, the simulation experiment is carried out on a 6 / 4 motor. The simulation results also show that the direct torque control strategy based on active disturbance rejection control technology can effectively control the torque and speed of switched reluctance motor.

Fly-Around Control of Space Tumbling Target Under Multiple Constraints

Aiming at the practical problems of external unknown disturbance and internal modeling uncertainty, when space tumbling target flies around in close range, a sliding mode controller (SMC) based on active disturbance rejection control (ADRC) technology is proposed to realize real-time estimation and compensation of &#x201C;total disturbance.&#x201D; Firstly, according to the motion characteristics of space tumbling target, the relative motion equation in rotating line of sight (RLOS) coordinate system is established; Secondly, the compound controller is designed, and the convergence of the nonlinear state expansion observer and the stability of the closed-loop system are analyzed based on the root locus method and Lyapunov function method respectively; Finally, the simulation results show that the SMC based on ADRC technology can effectively suppress the disturbance and overcome the chattering problem of traditional sliding mode controller. It has a good control quality, and strong robustness is an easy method for engineering practice.

Decoupling control of active suspension and four-wheel steering based on Backstepping-ADRC with mechanical elastic wheel

Mechanical elastic wheel (MEW) has the advantages of explosion-proof and prick-proof, which is conducive to the safety and maneuverability of the vehicle. However, the research on the performance of the full vehicle equipped with MEW is rare. Considering the particular properties of the radial and cornering stiffness of MEW, this paper aims to take into account both ride comfort and yaw stability of the vehicle equipped with the MEW through a nonlinear control method. Firstly, a 9-DOF nonlinear full vehicle model with the MEW tire model is constructed. The tire model is fitted based on experimental data, which corrects the impacts of vertical load on the cornering characteristic of the MEW. Then the full vehicle system is decoupled into four subsystems with a single input and a single output each according to active disturbance rejection control (ADRC) technology. In this process, the coupling relationship between different motions of the original system is regarded as the disturbance. Afterward, a novel nonlinear extended state observer is proposed, which has a similar structure of traditional linear extended state observer but smaller estimation error. Next, the control law of Backstepping-ADRC for different subsystems are derived respectively based on the Lyapunov theory. For the first time, the Backstepping-ADRC method is applied to the decoupling control of four-wheel steering and active suspension systems. Furthermore, the parameters of the controllers are adjusted through a multi-objective optimization scheme. Finally, simulation results validate the effectiveness and robustness of the proposed controller, especially when encountering some disturbances. The indices of vehicle body attitude and ride comfort are improved significantly, and also the yaw stability is guaranteed simultaneously.

Anti-disturbance stabilization for a hybrid system of non-uniform elastic string

This paper is concerned with the anti-disturbance boundary feedback stabilization for a hybrid system coupling a non-uniform elastic string with a rigid body at one end by the active disturbance rejection control technology. An infinite-dimensional disturbance estimator and a Luenberger state observer are designed to estimate the disturbance and state of the system, respectively, based on which, a boundary output feedback control is further proposed to stabilize the system. The control consists of two parts: one part is for the stabilization of system without external disturbance, and the other part is for the rejection of the disturbance by virtue of the disturbance estimator. The well-posedness and exponential stability of the closed-loop system are proved by employing the semigroup theories and frequency domain method. Besides, all the signals of the closed-loop system are shown to be uniformly bounded. Finally, some numerical simulations are presented to validate the effectiveness of the proposed control strategy.

Synchronization controller design for a network of boundary-controlled anti-stable wave equation with time-varying perturbations

In this paper, a output feedback controller based on an infinite dimensional disturbance observer and a state feedback controller based on backstepping method are proposed to solve the synchronous control problem of network anti-stable wave equation with time-varying disturbance at the boundary. One agent in the network wave equation as the virtual leader, and all remaining agents need to track the status of the virtual leader incrementally. Here, the design of synchronous controller is divided into three parts. Firstly, backstepping method is used to design a set of controllers that makes all the systems stable. Secondly, infinite dimensional disturbance observers based on the idea of the active disturbance rejection control (ADRC) technology are used to estimate the disturbance. Finally, the synchronization controllers are designed, and the error between the following system and the virtual leader system converges to 0 in the appropriate sense. The applicability of the closed-loop system is analyzed and proved. The simulation results show the effectiveness of the controller design.

Quadrotor Flight Control Based on Improved Active Disturbance Rejection Control Technology

This paper proposes a four-rotor attitude control method based on improved active disturbance rejection control. Based on the analysis of the active disturbance rejection controller from the deviation theory, it is found that the extended state observer has problems such as high steady-state error and difficulty in parameter selection. Then, an improved extended state observer was designed structurally, its stability was proved and the error was compared with the traditional extended observer, and the improved auto-disturbance rejection control was applied to the attitude control of the quad-rotor UAV. Finally, the simulation verification of the controller is carried out from various aspects of attitude tracking, height-fixing experiment, external force interference test and wind interference test, and compared with traditional ADRC, the comparison results show that its performance is better than traditional ADRC.

Research on Dynamic Simulation of Vehicle ACC Based on Active Disturbance Rejection Control Technology

To improve the robustness and safety of the vehicle’s adaptive cruise control system, this paper designs an active disturbance rejection controller (ACC_ADRC) with strong robustness. The upper controller is based on the active disturbance rejection control algorithm, obtains the expected acceleration of the vehicle according to the relative speed and relative distance of the preceding vehicle. The lower controller is based on PI control, according to the expected acceleration, it realizes the adaptive cruise control of the vehicle by controlling the throttle opening and the pressure of the master cylinder. Finally, based on the ADAS HIL simulation platform, the controller of this research and a mass production controller (ACC_MP) were simulated and verified. The simulation results show that compared with the ACC_MP controller, the ACC_ADRC controller has stronger robustness and reduces the overshoot of speed, acceleration and distance, and effectively improves the comfort and safety of the vehicle.

Improved Linear Active Disturbance Rejection Control of Photovoltaic Grid Connected Inverter Based on Filter Function

Aiming at the problem of noise easily polluting the voltage measurement link of an inverter DC bus in photovoltaic grid, an improved linear active disturbance rejection control technology based on filter function is constructed by combining linear active disturbance rejection control technology with filter. The core of the method is to expand the filtered voltage into a new state variable and use the linear extended state observer to estimate the filtered voltage, which is used as the feedback quantity, to improve the ability of linear active disturbance rejection control technology to suppress high-frequency noise. Then, considering that the output of the system contains noise, the frequency domain characteristics of the improved linear active disturbance rejection control are analyzed theoretically and verified by Bode diagram simulation. Finally, the feasibility and effectiveness of the proposed control strategy are demonstrated by building a simulation platform for grid-connected PV inverter.

Improved Linear Active Disturbance Rejection Control of Wind Power Inverter Based on Filter Function

In view of the problem that the DC bus voltage measurement link of grid connected inverter in wind power system is easy to be polluted by noise, this paper combines the linear active disturbance rejection control with the filter to construct an improved linear active disturbance rejection control technology based on the filter function. Firstly, the mathematical model of wind power grid connected inverter is constructed, and the traditional LADRC is analyzed. In order to improve the rejection of the LADRC to the high frequency noise, the filtered voltage is expanded into a new state variable, and the voltage filtering is estimated by using the linear extended state observer as the feedback. Considering the noise in the system output, the frequency characteristics of the improved LADRC are analyzed. The results show that the improved control strategy has better noise suppression ability. Finally, the feasibility and effectiveness of the control strategy is verified through the establishment of the simulation platform of the grid connected inverter of the wind power system.

Design and Control of a Deformable Trees-Pruning Aerial Robot

Tree branches near the electric power transmission lines are of great threat to the electricity supply. Nowadays, the tasks of clearing threatening tree branches are still mostly operated by hand and simple tools. Traditional structures of the multirotor aerial robot have the problem of fixed structure and limited performance, which affects the stability and efficiency of pruning operation. In this article, in order to obtain better environmental adaptability, an active deformable trees-pruning aerial robot is presented. The deformation of the aerial robot is implemented through two ways, arm telescopic and folding. In order to suppress the influence of internal and external disturbances on the system, Active Disturbance Rejection Control (ADRC) technology is adopted to build the flight controller. Firstly, active deformation aerial robot structure is given, followed by system dynamic model establishment under wind disturbance using the Newton–Euler method. Also, the analysis of the gusts influence on the system is considered. Then, the active deformation aerial robot system is decoupled into a combination of six SISO systems, so that a disturbance rejection controller is designed. Finally, the expanded state observer and the nonlinear state error feedback law are used to inspect and compensate the disturbance. Simulation results of attitude and position tracking as well as the antidisturbance capability show that the active deformation aerial robot with the ADRC flight controller designed in this paper has excellent attitude control capabilities during flight and trees-pruning operation.