Active disturbance rejection control of torsional plant with unknown frequency harmonic disturbance. (July 2020)

• Record Type: Journal Article
• Authors: Madonski, Rafal; Stanković, Momir; Shao, Sally; Gao, Zhiqiang; Yang, Jun; Li, Shihua
• Is Part Of: Control engineering practice. Volume 100(2020)
• Publication Date: 2020-07
• Subjects: Active disturbance rejection control -- ADRC -- Resonant extended state observer -- RESO -- Vibration suppression -- Sinusoidal disturbance -- Adaptive frequency estimator; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2020.104413
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: In this work, a new robust control algorithm is introduced for uncertain systems with harmonic disturbances of unknown frequencies. The proposed solution works under the active disturbance rejection control (ADRC) framework and utilizes a specialized observer for sinusoidal uncertainties, aided with an on-line harmonic disturbance frequency estimator. The entire governing structure is derived in a convenient error-based domain, easily deployable in various industrial control software. The idea behind the introduced approach is general, but is conveyed here using solely a three degrees-of-freedom torsional system, which is considered a benchmark for vibration phenomenon in many mechanical systems. The efficacy of the proposed control scheme is validated with a set of experiments on a laboratory testbed and a theoretical analysis based on theory of singular perturbation.