LADRC method referring to the integral chain model: design of dual-loop disturbance compensation and engineering verification

关键词:  Linear active disturbance rejection control · Disturbance compensation deviation · Referring to integral chain model · Dual-loop compensation · Robustness

Key words:  Linear active disturbance rejection control · Disturbance compensation deviation · Referring to integral chain model · Dual-loop compensation · Robustness

摘要:

To address the issue of disturbance compensation deviation in linear active disturbance rejection control (LADRC), a linear active disturbance rejection control method with reference to the integral chain model (LADRC-R) is proposed. By constructing an ideal control reference model, a dynamic correlation between output deviation and uncompensated disturbances is established, and a dual-loop compensation mechanism is designed. Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems, this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50% and introducing no phase lag during low-frequency disturbance suppression. Simulations on second-order systems verify its robustness under parameter perturbations, gain mismatch, and complex disturbances, and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference. Finally, the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform, providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.

Abstract:

To address the issue of disturbance compensation deviation in linear active disturbance rejection control (LADRC), a linear active disturbance rejection control method with reference to the integral chain model (LADRC-R) is proposed. By constructing an ideal control reference model, a dynamic correlation between output deviation and uncompensated disturbances is established, and a dual-loop compensation mechanism is designed. Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems, this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50% and introducing no phase lag during low-frequency disturbance suppression. Simulations on second-order systems verify its robustness under parameter perturbations, gain mismatch, and complex disturbances, and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference. Finally, the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform, providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.