Study on ADRC Controller Design and Simulation of Rock Drill Robot Joint Hydraulic Drive System

Author

Jiuhong, Ruan ; Xuewen, Rong ; Sanyou, Wu

Author_Institution

Shandong Jiaotong Univ., Jinan

fYear

2007

Firstpage

133

Lastpage

136

Abstract

Firstly, mathematic model of rock drill robot joint hydraulic drive system was analyzed, and the reduced-order approximative model was acquired. Then a two-order ADRC (Active Disturbance Rejection Controller) controller of the hydraulic system was designed, and the simulations were down within uncertainty environments. The simulation results show that the ADRC controller has ideal robustness to the system parameters´ disturbances and the large load disturbance, and rapid and smooth control process and high steady precise performances can be implemented.

Keywords

control system synthesis; drilling; drilling machines; hydraulic drives; industrial robots; reduced order systems; stability; active disturbance rejection controller; controller design; hydraulic drive system; reduced-order approximative model; rock drill robot joint; simulation; smooth control process; Electronic mail; Hydraulic drives; Hydraulic systems; Mathematical model; Mathematics; Noise measurement; Process control; Robots; Robust control; Uncertainty; ADRC; Hydraulic system; Joint drive; Robustness; Rock drill robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2007. CCC 2007. Chinese

Conference_Location

Hunan

Print_ISBN

978-7-81124-055-9

Electronic_ISBN

978-7-900719-22-5

Type

conf

DOI

10.1109/CHICC.2006.4347032

Filename

4347032