A modified active disturbance rejection control strategy based on cascade structure with enhanced robustness

Yifan Liu; Gang Liu; Shiqiang Zheng; Haitao Li

doi:10.1016/j.isatra.2022.02.040

A modified active disturbance rejection control strategy based on cascade structure with enhanced robustness

ISA Trans. 2022 Oct;129(Pt B):525-534. doi: 10.1016/j.isatra.2022.02.040. Epub 2022 Mar 2.

Authors

Yifan Liu¹, Gang Liu², Shiqiang Zheng³, Haitao Li⁴

Affiliations

¹ School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China; Beijing Engineering Research Center of High-Speed Magnetically Suspended Motor Technology and Application, Beihang University, Beijing 100191, China. Electronic address: yifanliu@buaa.edu.cn.
² School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China; Beijing Engineering Research Center of High-Speed Magnetically Suspended Motor Technology and Application, Beihang University, Beijing 100191, China. Electronic address: lgang@buaa.edu.cn.
³ School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China; Beijing Engineering Research Center of High-Speed Magnetically Suspended Motor Technology and Application, Beihang University, Beijing 100191, China. Electronic address: zhengshiqiang@buaa.edu.cn.
⁴ School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China; Beijing Engineering Research Center of High-Speed Magnetically Suspended Motor Technology and Application, Beihang University, Beijing 100191, China. Electronic address: haitaoli@buaa.edu.cn.

PMID: 35282873
DOI: 10.1016/j.isatra.2022.02.040

Abstract

Active disturbance rejection control (ADRC) is considered to be a common control method in the presence of external disturbances and uncertainties. This work proposes a modified ADRC control strategy to further enhance robustness to uncertainties. First, the cascade structure of modified ADRC composed by two control loops is introduced. Two extended state observers that can be tuned independently are arranged in a cascade structure. The outer loop observer provides system state estimation to build the feedback controller, and the inner loop observer deals with the generalized disturbance. Then, the enhanced robustness is verified by the improved sensitivity in the intermediate frequency range. Finally, for the axial magnetic bearing system with unstable system dynamics, the variation trend in maximum sensitivity with different control parameters is explained in the simulation. The experiments are conducted under varying disturbances and parameter uncertainty to verify the enhanced control performance.

Keywords: Active disturbance rejection control; Extended state observer; Magnetic bearing control; Magnetically suspended control moment gyroscope.