Fuzzy Active Disturbance Rejection Control Research Articles

Optimizing Active Disturbance Rejection Control for a Stubble Breaking and Obstacle Avoiding Control System

In order to improve the obstacle avoidance control performance and anti-interference ability of a stubble breaking device of a no-tillage planter, a back-propagation neural network (BPNN)-optimized fuzzy active disturbance rejection control (ADRC) controller was designed to optimize the control performance of a servo motor. Firstly, a negative feedback mathematical model was established for the obstacle avoidance control system. Then, the nonlinear state error feedback (NLSEF) parameters in the fuzzy ADRC were intelligently optimized by the BPNN algorithm. In this way, a fuzzy ADRC controller based on BPNN optimization was formed to optimize the control process of a servo motor. Matlab/Simulink (R2022b) was used to complete the simulation model design and parameter adjustment. Consequently, the response time was 0.089 s using the BPNN fuzzy ADRC controller, which was shorter than the 0.303 s of the ADRC controller and the 0.100 s of the fuzzy ADRC controller. The overshoot was 0.1% using a BPNN fuzzy ADRC controller, which was less than the 2% of the ADRC controller and the 1% of the fuzzy ADRC controller. After noise signal interference was introduced into the control system, the regression steady state time of the BPNN fuzzy ADRC controller was 0.22 s, which was shorter than the 0.56 s of the ADRC controller and the 0.45 s of the fuzzy ADRC controller. A hardware-in-the-loop simulation experimental platform of the obstacle avoidance control system was constructed. The experiment results show that the servo motor control system has a fast dynamic response, small steady-state error and strong anti-interference ability for obstacle avoidance at the target height. Then, the control system error was within the allowable range. The servo motor control effect of the BPNN fuzzy ADRC was better than the ADRC and fuzzy ADRC. This optimized servo motor control method can provide a reference for improving the obstacle avoidance control effect problem of no-tillage seeders in stubble breaking operations on rocky desertification areas.

Cross-coupling-based fuzzy active disturbance rejection control for dual-path snubbing unit lifting system

Cross-coupling-based fuzzy active disturbance rejection control for dual-path snubbing unit lifting system

The primary frequency modulation control strategy based on fuzzy active disturbance rejection control for gas turbines

Gas turbines play a core role in clean energy supply and construction of comprehensive energy system, and the control performance of primary frequency modulation (PFM) of gas turbine has a great impact on the frequency control of the power grid. However, there are some control difficulties in the PFM control of gas turbines, such as the coupling effect of fuel control loop and speed control loop, slow tracking speed and large variation of operating conditions. To relieve the above difficulties, a control strategy based on the fuzzy-modified active disturbance rejection control (F-MADRC) proposed in this paper. Based on the analyses of the parameter stability region for active disturbance rejection control (ADRC), fuzzy tuning rules of parameters for F-MADRC are designed. Finally, the proposed F-MADRC is applied to the PFM system of MS6001B heavy-duty gas turbine. The simulation results show that the gas turbine unit with the proposed method can obtain the best control performance of the PFM with strong ability to deal with system uncertainties. The proposed method shows good engineering application potential.

Research on a Torque Ripple Suppression Method of Fuzzy Active Disturbance Rejection Control for a Permanent Magnet Synchronous Motor

In order to meet the necessities of steady and protected operation of a permanent magnet synchronous motor (PMSM) in electromechanical pressure gadget aviation beneath complicated working conditions, a three-phase four-arm inverter fuzzy self-disturbance suppression management (Fuzzy-ADRC) approach for PMSM is proposed to suppress the motor torque pulsation beneath complicated working conditions. Firstly, the defects of the common inverter are analyzed, the three-phase four-bridge inverter is changed via the standard three-phase three-bridge inverter, and the present-day harmonic suppression’s overall performance of the three-phase four-bridge inverter is modeled, analyzed, and verified. Secondly, the ADRC and fuzzy management approach is analyzed, the Kalman filter is delivered into the motor pace loop management to enhance the overall performance of ADRC, and then the fuzzy manipulate and ADRC are blended to similarly enhance the torque ripple suppression’s overall performance of the everlasting magnet synchronous motor. Finally, the proposed three-phase four-arm inverter and fuzzy-ADRC approach are combined, and contrasted with the normal three-phase three-arm inverter and ADRC method. The simulation consequences exhibit that the proposed manipulation technique can efficiently suppress the torque ripple of everlasting magnet synchronous motor and has robust reliability.

Research on anode pressure control and dynamic performance of proton-exchange membrane fuel cell system for vehicular application

Reasonable anode pressure supply can not only improve the performance output of proton-exchange membrane fuel cell (PEMFC), but also effectively protect the proton-exchange membrane (PEM). In this article, a practicable feedforward-based proportional-integrative (FFPI) anode pressure control strategy is designed and successfully applied to a 100 kW-class automotive PEMFC system, where the current and anode purging are considered as interferences to apply feedforward compensation. The fuel cell system test bench exhibits good dynamic performance in load change experiments, the cell voltage consistency, power generation efficiency and hydrogen utilization of the system remain at a high level. To further suppress interference and reduce overshoot, oscillation and pressure response hysteresis, a control-oriented model of this 100 kW PEMFC system is constructed, and a novel second-order fuzzy active disturbance rejection controller (SOFADRC) is designed. Simulation results indicate that compared to FFPI controller and second-order ADRC (SOADRC), the maximum absolute error (MAE), average absolute error (AAE), and root-mean-square error (RMSE) of SOFADRC all reach the minimum values respectively under the step-load and China light-duty vehicle test cycle (CLTC) operating conditions, which are 6.51 kPa, 0.09 kPa, 0.42 kPa and 8.95 kPa, 0.62 kPa, 1.35 kPa respectively, showing the outstanding control effect.

Speed Control of PMSM Based on Fuzzy Active Disturbance Rejection Control under Small Disturbances

Permanent Magnet Synchronous Motors (PMSMs), with their simple design, small size, and high-power factor, are ideally suited for realizing high-power AC drives and are widely used in various industries. In this study, Fuzzy Active Disturbance Rejection Control (Fuzzy-ADRC) is used to control the speed of the PMSM. When a slight external disturbance occurs, this control strategy maintains the suppression characteristics of the self-excited control for the disturbance and enhances its ability to compensate for the disturbance. First, a mathematical model was developed to study the surface mount PMSM. Then, a motor control simulation model was created using PI control, vector control, and other control methods. The verification results indicate that the improved Fuzzy-ADRC system performs well under both internal and external minor disturbances. It exhibits a faster dynamic response and reduced regulation time (0.026 s to 0.017 s) compared to the traditional ADRC system. Furthermore, it shows less overshoot (reduced from 70% to 2.9%) compared to the Sliding Mode Observer (SMO). Taken together, the improved Fuzzy-ADRC system is characterized by small steady-state error, high load capacity, and control accuracy. With the assistance of this control strategy, the system can track speed with high accuracy and possesses stronger anti-interference capability to mitigate load disturbances.

Fuzzy Active Disturbance Rejection-Based Virtual Inertia Control Strategy for Wind Farms

This paper presents an advanced virtual inertia control strategy for wind farms to provide transient power support in the presence of frequency events, where a fuzzy active disturbance rejection controller is developed to enable the operation of an energy storage system (ESS) so as to provide support for frequency regulation of the power grid. To effectively estimate the system frequency under uncertain noises, fuzzy rules are presented to adaptively tune the parameters of the extended state observer and to realize the power-sharing, to improve the anti-interference ability of the wind power system. Finally, simulation analysis in MATLAB/Simulink is provided to validate the effectiveness of the proposed control strategy. Simulation results show that the developed virtual inertia control strategy based on fuzzy active disturbance rejection control has a good inertia support capability. In addition, the proposed method is able to improve the anti-noise capability of the wind power system.

Research on a Three-Dimensional Fuzzy Active Disturbance Rejection Controller for the Mechanical Arm of an Iron Roughneck

In the position control of the mechanical arm of an iron roughneck (MAIR), a controller with high responsiveness, high accuracy, and high anti-interference capability is necessary. An MAIR consists of two proportional-valve-controlled single-extension (PVCSE) hydraulic cylinders, and a traditional proportional–integral–derivative (PID) controller cannot easily achieve the accuracy and robustness requirements of the hydraulic cylinders. In this paper, a three-dimensional fuzzy active disturbance rejection controller (TF-ADRC) is proposed for an MAIR, which adds a three-dimensional fuzzy module to a classical active disturbance rejection controller (ADRC) to adjust the controller output according to the tracking of differential deviation, deviation change rate, and deviation change acceleration rate. Firstly, the trajectory planning of the MAIR was carried out using the quintic polynomial interpolation method to improve the smoothness of the target trajectory. Then, the reliability of the established model was verified by experiments. Finally, the comprehensive performance of a PID controller, fuzzy PID controller, ADRC, and TF-ADRC were compared based on the AMESim-Simulink model. The system with the TF-ADRC exhibits higher position control accuracy and better anti-interference capability than the system with a PID or Fuzzy PID controller, and accuracy is higher compared with the common ADRC.

Fuzzy active disturbance rejection control method for an omnidirectional mobile robot with MY3 wheel

PurposeOmnidirectional mobile robots with a special type of wheel structure can realize flexible motion with all three degrees of freedom in a plane. But the driving method brings large disturbance, which affects motion accuracy and stability. This study aims to improve the motion control accuracy of the omnidirectional mobile platform with MY3 wheels (MY3-OMR), a new fuzzy active disturbance rejection control (FADRC) method with adaptivity is proposed.Design/methodology/approachBased on the basic mechanical structure and drive characteristics of MY3-OMR, the dynamics model of the system is established. The linear active disturbance rejection control (LADRC) system is designed to reduce the interference of nonlinear factors in this dynamics model. A fuzzy controller is introduced to realize the online adjustment of the parameters of the LADRC, which further improves the anti-disturbance performance of the system.FindingsThe control method proposed in this paper is compared and analyzed with other methods by simulation and experiment. Results show that the proposed method has better tracking and robustness, which effectively improves the control accuracy of trajectory tracking of MY3-OMR.Originality/valueA FADRC method with adaptivity is proposed by combining fuzzy control and LADRC. The motion accuracy and anti-interference ability of the MY3-OMR are improved by this control method, which lays a foundation for the subsequent application of MY3-OMR.

Research on Fuzzy Active Disturbance Rejection Control of LCL Grid-Connected Inverter Based on Passivity-Based Control in Weak Grid

In response to the problems of impedance variation and rich background harmonics in the weak grid environment of traditional LCL grid-connected inverters, which cause distortion of the grid-connected current and reduce the stability of the entire grid-connected system, this paper proposes a passive fuzzy-active disturbance rejection control strategy. Firstly, passivity-based control (PBC) is introduced into the grid-connected inverter system to ensure the global stability of the entire system. Secondly, in order to solve the problem of difficult selection of inverter-side current, active disturbance rejection control (ADRC) is used to directly track the grid-connected current, avoiding the tracking error of AC signal and suppressing the interference of background harmonics of grid voltage. The combination of fuzzy control and ADRC simplifies the system parameter tuning process, and the FUZZY-ADRC grid-connected current outer loop and PBC inductance current inner loop are combined to form a multi-loop control system. Finally, simulation comparison verifies that the proposed control strategy can effectively suppress the harmonics of grid-connected current, improve the quality of grid-connected current, and enhance the stability of the entire grid-connected system in a weak grid environment.

Mirror milling trajectory planning for large thin-walled parts based on Fuzzy-ADRC controlled force pre-supporting

Reliable supporting with pre-defined force is essential for mirror milling to solve the problem of efficient and stable machining of large thin-walled parts. However, it is difficult to control the support force by traditional coordinate offset or static pressure fluctuation to ensure machining stability and residual wall thickness accuracy at the same time. In this paper, a novel mirror milling trajectory planning method based on controlled force pre-supporting is proposed. Firstly, the supporting trajectory is updated by means of pre-supporting with pre-defined supporting force. And a supporting force controller based on fuzzy active disturbance rejection control (ADRC) is designed. Secondly, taking the new supporting trajectory as basis, the mirror machining trajectory is planned considering the mirror constrains and the residual wall thickness. Finally, the control process of supporting force was simulated and the mirror machining experiments were carried out. Compared with the real-time supporting mode and the Fuzzy-PID-based pre-supporting mode, the Fuzzy-ADRC-based pre-supporting mode can obtain higher wall thickness accuracy and surface quality.

Research of a Six-Pole Active Magnetic Bearing System Based on a Fuzzy Active Controller

Magnetic bearings have a series of excellent qualities, such as no friction and abrasions, high speed, high accuracy, and so on, which have fundamentally innovated traditional forms of support. In order to solve the problems of the large volume, low power density and high coupling coefficient of three-pole magnetic bearings, a six-pole AC active magnetic bearing is designed. Firstly, the basic structure and working principle of a two-degree-of-freedom (2-DOF) six-pole active magnetic bearing is introduced. Secondly, a suspension force modeling method of a 2-DOF AC active magnetic bearing based on the Maxwell tensor method is proposed, and the mathematical model of active magnetic bearing is established. Considering the fact that AC active magnetic bearing is essentially a nonlinear system, a fuzzy active disturbance rejection control (ADRC) method is designed based on fuzzy control and ADRC theory. Its control algorithm and control block diagram are given, and the fuzzy ADRC method is simulated and verified. Finally, the control block diagram of an experimental system based on the 2-DOF six-pole active magnetic bearing is given, and the experimental platform is constructed. The experimental results show that the mechanical and magnetic circuit structure of the 2-DOF six-pole active magnetic bearing is reasonable, and the fuzzy controllers can realize the stable suspension of the rotor.

Power Balance Control Strategy of Permanent Magnet Synchronous Motor of Belt Conveyor

Aiming at the problem of multi-machine power balance control of long distance belt conveyor with double drum and three permanent magnet synchronous motor, the control method of speed and torque of master and slave motors of belt conveyor driven by multiple motors is analyzed. According to the properties of coaxial rigid connection and flexible connection of three motors of double drum, The power balance strategy based on fuzzy Active Disturbance Rejection Controller (ADRC) is proposed to achieve the purpose of disturbance rejection and improve the stability of the system. The simulation results show that the proposed method can solve the power imbalance problem of the system motor. Compared with the traditional PID control method, the corresponding speed of fuzzy ADRC control method is less than 300ms, the power deviation of rigid connected motor is less than 0.1kW, and the power deviation of flexible connected motor is less than 0.3kW. This method can effectively reduce the synchronization error of each motor, and has good robustness, and realize the power balance distribution among multiple motors.

Development of Energy Saving and Rapid Temperature Control Technology for Intelligent Greenhouses

Modern greenhouses need a certain equipment to achieve the expected environmental temperature in a short time while saving energy. To achieve greenhouse temperature management and energy savings through intelligent control, a greenhouse mechanism model is first built to study the controller design for a greenhouse located in Yiyang city in this paper. Then, the model accuracy is verified by experimental data. Based on the verified model, two intelligent control technologies are proposed, namely, active disturbance rejection control and fuzzy active disturbance rejection control. Methods are adopted to adjust skylight opening and thermal air conditioning for greenhouse temperature control and energy savings. In 60 hours of continuous working time, fuzzy active disturbance rejection control takes 10 hours less than active disturbance rejection control to make the greenhouse temperature reach the ideal steady state, and the temperature overshoot is reduced by 60%. Through analysis, the proposed fuzzy active disturbance rejection control method for greenhouse temperature management can achieve 15% energy savings. The proposed intelligent control technology can also be applied to temperature management for real greenhouses.

Hybrid data-driven fuzzy active disturbance rejection control for tower crane systems

This paper proposes the Virtual Reference Feedback Tuning (VRFT) of a combination of two control algorithms, Active Disturbance Rejection Control (ADRC) as a representative data-driven (or model-free) control algorithm and fuzzy control, in order to exploit the advantages of data-driven control and fuzzy control. The combination of Active Disturbance Rejection Control with Proportional-Derivative Takagi-Sugeno Fuzzy Control (PDTSFC) tuned by Virtual Reference Feedback Tuning results in two novel data-driven algorithms referred to as hybrid data-driven fuzzy ADRC algorithms. The main benefit of this combination is the automatic optimal tuning in a model-free manner of the parameters of the combination of Active Disturbance Rejection Control with Proportional-Derivative Takagi-Sugeno Fuzzy Control called ADRC-PDTSFC. The second benefit is that the suggested combination is time saving in finding the optimal parameters of the controllers. However, since Virtual Reference Feedback Tuning generally works with linear controllers to solve a certain optimization problem and the fuzzy controllers are essentially nonlinear, this paper replaces the least-squares algorithm specific to Virtual Reference Feedback Tuning with a metaheuristic optimization algorithm, i.e. Grey Wolf Optimizer. The fuzzy control system stability is guaranteed by including a limit cycle-based stability analysis approach in Grey Wolf Optimizer algorithm to validate the next solution candidates. The hybrid data-driven fuzzy ADRC algorithms are validated as controllers in terms of real-time experiments conducted on three-degree-of-freedom tower crane system laboratory equipment. To determine the efficiency of the new hybrid data-driven fuzzy ADRC algorithms, their performance is compared experimentally with that of two control algorithms, namely Active Disturbance Rejection Control with Proportional-Derivative Takagi-Sugeno Fuzzy Control, whose parameters are optimally tuned by Grey Wolf Optimizer in a model-based manner using the nonlinear process model.

Fuzzy active disturbance rejection control design for autonomous underwater vehicle manipulators system

AbstractIn this article, a fuzzy active disturbance rejection controller (FADRC) is proposed for autonomous underwater vehicle manipulator system (AUVMS). First, the AUVMS is separated into nine subsystems. Then, for each subsystem, dynamic uncertainties, hydrodynamic forces, unknown disturbance, and nonlinear coupling effects are lumped into a total disturbance. Next, a linear extended state observer (LESO) and linear feedback control law are designed to estimate and compensate the total disturbance. The convergence and estimation error of the LESO are analyzed here to validate its performance. Then considering the control output in real industry are always limited, a saturated proportional‐derivative (PD) controller is proposed, and close‐loop stability of the controller can be ensured. Given the fact that there are many parameters to be scheduled in practical industrial applications, an FADRC is proposed to determine the parameters of the proposed LESO and saturated PD controller. The given fuzzy rules of the parameters' change of the saturated PD controller and bandwidths of LESO can be used in other FADRCs. In order to verify the effectiveness of the proposed method, two tasks are chosen to test the performance of trajectory tracking and the capability of rejecting and attenuating the total disturbance. Simulation shows that the proposed FADRC can achieve better performance and consume less energy than classic fuzzy logic controllers and linear active disturbance rejection controllers.

Speed Tracking and Synchronization of a Multimotor System Based on Fuzzy ADRC and Enhanced Adjacent Coupling Scheme

In this paper, a speed tracking and synchronization control approach is proposed for a multimotor system based on fuzzy active disturbance rejection control (FADRC) and enhanced adjacent coupling scheme. By employing fuzzy logic rules to adjust the coefficients of the extended state observer (ESO), FADRC is presented to guarantee the speed tracking performance and enhance the system robustness against external disturbance and parametric variations. Moreover, an enhanced adjacent coupling synchronization control strategy is proposed to simplify the structure of the speed synchronization controller through introducing coupling coefficients into the conventional adjacent coupling approach. Based on the proposed synchronization control scheme, an adaptive integral sliding mode control (AISMC) is investigated such that the chattering problem in conventional sliding mode control can be weakened by designing an adaptive estimation law of the control gain. Comparative simulations are carried out to prove the superiorities of the proposed method.

Design and control of a novel variable stiffness soft arm

ABSTRACTSoft robot arms possess such characteristics as light weight, simple structure and good adaptability to the environment, among others. On the other hand, robust control of soft robot arms presents many difficulties. Based on these reasons, this paper presents a novel design and modeling of a fuzzy active disturbance rejection control (FADRC) controller for a soft PAM arm. The soft arm comprises three contractile and one extensor PAMs, which can vary its stiffness independently of its position in space. Force analysis for the soft arm is conducted, and stiffness model of the arm is established based on the relational model of contractile and extensor PAM. The accuracy of stiffness model for the soft arm was verified through experiments. Associated to this, a controller based on the fuzzy adaptive theory and active disturbance rejection control (ADRC), FADRC, has been designed to control the arm. The fuzzy adaptive theory is used to adjust the parameters of the ADRC, the control algorithm has the ability to control stiffness and position of the soft arm. In this paper, FADRC was further verified through comparative experiments on the soft arm. This paper reinforces the hypothesis that FADRC control, as an algorithm, indeed possesses good robustness and adaptive abilities.

Study on Three-Motor Synchronous System of Fuzzy Active Disturbance Rejection Control

Fuzzy active disturbance rejection controller of three-motor synchronous system is proposed in this paper, which could adjust the parameters automatically by using the inferential capability of fuzzy control. Double channels compensation of extended state observer is used to estimate and compensate the total disturbance of the system and the coupling between speed and tensions, thus an approximate linearization and deterministic system is obtained. The results of experiments prove that the control system has better performances of dynamic and static characteristics, stronger anti-interference ability and better robustness than the traditional PID control system, realizing a better decoupling control of speed and tensions.

Fuzzy ADRC Controller Design for PMSM Speed Regulation System

This paper introduces a new fuzzy active disturbance rejection control (ADRC) design technique into permanent magnet synchronous motor (PMSM) speed regulation system. By using fuzzy logic control, the proportional coefficient of nonlinear state error feedback (NLSEF) is timely adjusted to obtain the suitable feedforward control variable. The uncertain term of PMSM is tracked and estimated by using the extended state observer (ESO). The control variable can be obtained through subtracting the estimator of ESO from the output of NLSEF. The simulation results show that the controller operates robustly under modeling uncertainty and external disturbance and produces better dynamic performance than the ADRC controller.