A Control Method for Electric Cylinder Based on Three-Order ADRC

被引：0
|
作者：
Jiang, Zhifan [1 ,2 ]
Chen, Zhihua [1 ,2 ]
Tong, Lijun [1 ,2 ]
Huang, Jiale [1 ,2 ]
Che, Yufei [1 ,2 ]
机构：
[1] Nanchang Hangkong Univ, Key Lab Jiangxi Prov Image Proc & Pattern Recogni, Nanchang 330063, Jiangxi, Peoples R China
[2] Nanchang Hangkong Univ, MOE Key Lab Nondestruct Testing Technol, Nanchang 330063, Jiangxi, Peoples R China
来源：
2024 WRC SYMPOSIUM ON ADVANCED ROBOTICS AND AUTOMATION, WRC SARA | 2024年
基金：
中国国家自然科学基金;
关键词：
D O I：
10.1109/WRCSARA64167.2024.10685703
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
As an executive component of robots, the precise control of electric cylinders is crucial for achieving accurate control of robots. This article proposes a position closed-loop electric cylinder control method based on three-orders active disturbance rejection control (ADRC). Firstly, model the electric cylinder system and determine its transfer function. Secondly, PID controllers and ADRC controllers were designed separately, and their stability was verified through the Routh criterion and Lyapunov method, respectively. Finally, the control effects of PID and ADRC were compared through three sets of experiments. The results show that compared to PID, ADRC is less affected by the increase in input signal frequency, has stronger anti-interference ability, and can effectively resist the influence of internal uncertainty.
引用
收藏
页码：303 / 308
页数：6
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