Changchun Institute of Optics,Fine Mechanics and Physics,CAS
Servo system of harmonic drive electromechanical actuator using improved ADRC | |
Zhang M.-Y.; Yang H.-B.; Zhang J.-B.; Ding T.-C.; Jia H.-G. | |
2014 | |
发表期刊 | Guangxue Jingmi Gongcheng/Optics and Precision Engineering |
ISSN | ISBN/1004924X |
卷号 | 22期号:1页码:99-108 |
摘要 | Because Electromechanical Actuator (EMA) is a nonlinear, time-varying servo system, this paper proposes an improved Active Disturbance Rejection Controller(ADRC) to improve the tracking performance of the EMA. First, the mathematical model and control strategy of the EMA were presented and the nonlinear factors influencing the performance of EMA were analyzed by the control theory. Then, the improved ADRC was described and the method to select parameters were given by modern control theory. Furthermore, the feasibility of this controller was demonstrated through a simulation under different input conditions. Finally, the performance of PI controller, ADRC, and improved ADRC was compared by experiments on a harmonic drive EMA servo system. Experimental results indicate that the improved ADRC controller can remove the position flat crest and velocity dead space, and its phase error is 0.087 22 rad when the angular position signal of 10 sin(5 t) is tracked. Furthermore, the rise time, overshoot and the steady state mean square deviation of EMA system are 9-18 ms, 0-7.25%, 0.007 60-0.010 83, respectively, when 1-15 angular positions are tracked. These results means that the performance of the improved ADRC is better than those of the PI controller and traditional ADRC. It has a fast response, slight overshoot and high accuracy in stability, as well as strong anti-disturbance and robustness. |
收录类别 | EI |
语种 | 中文 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ciomp.ac.cn/handle/181722/44363 |
专题 | 中科院长春光机所知识产出 |
推荐引用方式 GB/T 7714 | Zhang M.-Y.,Yang H.-B.,Zhang J.-B.,et al. Servo system of harmonic drive electromechanical actuator using improved ADRC[J]. Guangxue Jingmi Gongcheng/Optics and Precision Engineering,2014,22(1):99-108. |
APA | Zhang M.-Y.,Yang H.-B.,Zhang J.-B.,Ding T.-C.,&Jia H.-G..(2014).Servo system of harmonic drive electromechanical actuator using improved ADRC.Guangxue Jingmi Gongcheng/Optics and Precision Engineering,22(1),99-108. |
MLA | Zhang M.-Y.,et al."Servo system of harmonic drive electromechanical actuator using improved ADRC".Guangxue Jingmi Gongcheng/Optics and Precision Engineering 22.1(2014):99-108. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
改进自抗扰控制谐波式电动舵机伺服系统.p(2581KB) | 开放获取 | CC BY-ND | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论