Research on Active Disturbance Rejection Controller for Electromechanical Servo System with Large Inertia Loads

Abstract

In this paper, an Active Disturbance Rejection Controller (ADRC) based on an improved Particle Swarm Optimization (PSO) algorithm is proposed. The ADRC is conducive to addressing the situation that the electromechanical servo system is loaded with a large inertia barrel and is significantly affected by disturbances when working at high speed and precision. It can not only improve the anti-disturbance performance of the system but also ensure the dynamic performance of the system. Firstly, a simplified mathematical model of the electromechanical servo system is established and the non-linear factors of the system are analyzed. Secondly, the ADRC is designed and the parameters are optimized by utilizing the improved PSO algorithm. Finally, the control effect of the proposed method is simulated and analyzed. The simulation consequences demonstrate that compared with the traditional PID control, the proposed method can significantly increase the anti-disturbance capability of the servo system, and guarantee the accuracy index of the system.