DONG, Kaifeng ;LI, Jun ;LV, Mengyao ;LI, Xin ;GU, Wei ;CHENG, Gang . Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot. Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 69, n.11-12, p. 509-521, august 2023. ISSN 0039-2480. Available at: <https://www.sv-jme.eu/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/>. Date accessed: 09 may. 2024. doi:http://dx.doi.org/10.5545/sv-jme.2023.680.
Dong, K., Li, J., Lv, M., Li, X., Gu, W., & Cheng, G. (2023). Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot. Strojniški vestnik - Journal of Mechanical Engineering, 69(11-12), 509-521. doi:http://dx.doi.org/10.5545/sv-jme.2023.680
@article{sv-jmesv-jme.2023.680,
author = {Kaifeng Dong and Jun Li and Mengyao Lv and Xin Li and Wei Gu and Gang Cheng},
title = {Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot},
journal = {Strojniški vestnik - Journal of Mechanical Engineering},
volume = {69},
number = {11-12},
year = {2023},
keywords = {active disturbance rejection control; trajectory tracking; parallel mechanism; driven branch chain; },
abstract = {To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system.},
issn = {0039-2480}, pages = {509-521}, doi = {10.5545/sv-jme.2023.680},
url = {https://www.sv-jme.eu/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/}
}
Dong, K.,Li, J.,Lv, M.,Li, X.,Gu, W.,Cheng, G. 2023 August 69. Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 69:11-12
%A Dong, Kaifeng %A Li, Jun %A Lv, Mengyao %A Li, Xin %A Gu, Wei %A Cheng, Gang %D 2023 %T Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot %B 2023 %9 active disturbance rejection control; trajectory tracking; parallel mechanism; driven branch chain; %! Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot %K active disturbance rejection control; trajectory tracking; parallel mechanism; driven branch chain; %X To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system. %U https://www.sv-jme.eu/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/ %0 Journal Article %R 10.5545/sv-jme.2023.680 %& 509 %P 13 %J Strojniški vestnik - Journal of Mechanical Engineering %V 69 %N 11-12 %@ 0039-2480 %8 2023-08-18 %7 2023-08-18
Dong, Kaifeng, Jun Li, Mengyao Lv, Xin Li, Wei Gu, & Gang Cheng. "Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot." Strojniški vestnik - Journal of Mechanical Engineering [Online], 69.11-12 (2023): 509-521. Web. 09 May. 2024
TY - JOUR AU - Dong, Kaifeng AU - Li, Jun AU - Lv, Mengyao AU - Li, Xin AU - Gu, Wei AU - Cheng, Gang PY - 2023 TI - Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot JF - Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2023.680 KW - active disturbance rejection control; trajectory tracking; parallel mechanism; driven branch chain; N2 - To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system. UR - https://www.sv-jme.eu/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/
@article{{sv-jme}{sv-jme.2023.680},
author = {Dong, K., Li, J., Lv, M., Li, X., Gu, W., Cheng, G.},
title = {Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot},
journal = {Strojniški vestnik - Journal of Mechanical Engineering},
volume = {69},
number = {11-12},
year = {2023},
doi = {10.5545/sv-jme.2023.680},
url = {https://www.sv-jme.eu/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/}
}
TY - JOUR AU - Dong, Kaifeng AU - Li, Jun AU - Lv, Mengyao AU - Li, Xin AU - Gu, Wei AU - Cheng, Gang PY - 2023/08/18 TI - Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot JF - Strojniški vestnik - Journal of Mechanical Engineering; Vol 69, No 11-12 (2023): Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2023.680 KW - active disturbance rejection control, trajectory tracking, parallel mechanism, driven branch chain, N2 - To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system. UR - https://www.sv-jme.eu/article/research-on-the-driven-branch-chain-active-disturbance-rejection-control-algorithm-of-the-polishing-robot/
Dong, Kaifeng, Li, Jun, Lv, Mengyao, Li, Xin, Gu, Wei, AND Cheng, Gang. "Active Disturbance Rejection Control Algorithm for the Driven Branch Chain of a Polishing Robot" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 69 Number 11-12 (18 August 2023)
Strojniški vestnik - Journal of Mechanical Engineering 69(2023)11-12, 509-521
© The Authors 2023. CC BY-NC 4.0 Int.
To overcome poor error suppression performance and low control accuracy in the polishing robot-driven branch chain control system, this paper proposes an improved active disturbance rejection control (ADRC) from the design of the derived nonlinear function. Subsequently, the tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (SEF) are designed in the ADRC, and the driven branch’s ADRC servo-control system is established based on the permanent magnet synchronous motor (PMSM) with each driven branch. Meantime, by establishing first-order and second-order ADRC, current-loop control, and speed-and-position-loop control are realized, respectively. Finally, this study analysed differences in the speed and motor rotor error performance between the proportional-integral-derivative (PID)control and ADRC control strategy by using Simulink. Furthermore, an experiment platform, including hardware and software, is built to validate some inclusions. The results show that the ADRC not only realises high-precision trajectory tracking control but also ensures the rapid response performance of the system.