Title :
Study of pneumatic servo system based on linear active disturbance rejection controller
Author :
Wang Bo ; Wang Tao ; Jin Ying ; Fan Wei ; Wang Yu
Author_Institution :
Beijing Inst. of Technol., Beijing, China
Abstract :
To improve the robustness and the anti-disturbance of control system, regulate its stiffness, a scheme concluding linear active disturbance rejection controllers for pneumatic servo system is proposed. Two linear active disturbance rejection controllers are designed respectively to track the motion and pressure reference. The design of a linear active disturbance rejection controller is independent of precisely mathematical model of the system. The extended state observer can track successfully the states and extended state of the system, and it is possible to realize the states feedback and handle the model uncertainty and compensate external disturbance. The simulation results show that pneumatic servo system based on linear active disturbance rejection controllers is robust against modeling uncertainty and external disturbances. The dynamic performance of the system using linear active disturbance rejection controllers also can be improved as well.
Keywords :
elasticity; pneumatic systems; servomechanisms; stability; antidisturbance of control system; linear active disturbance rejection controller; mathematical model; model uncertainty; pneumatic servo system; robustness improvement; stiffness; Equations; Force; Mathematical model; Observers; Servomotors; Tuning; Valves;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on
Conference_Location :
Wollongong, NSW
Print_ISBN :
978-1-4673-5319-9
DOI :
10.1109/AIM.2013.6584252