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Frequency domain stability analysis of nonlinear active disturbance rejection control system
Jie Li1, Xiaohui Qi1, Yuanqing Xia2
1Department of Unmanned Aerial Vehicle Engineering, Mechanical Engineering College, Shijiazhuang 050003, China.
ISA Transactions
|December 24, 2014
Summary
This study analyzes the stability of fast tool servo systems with active disturbance rejection control (ADRC). It finds that ADRC
Area of Science:
- Control Systems Engineering
- Nonlinear Dynamics
- Robotics
Background:
- Fast tool servo systems are crucial for precision manufacturing.
- Nonlinear active disturbance rejection control (ADRC) is increasingly used in these systems.
- Understanding system stability under nonlinear control is essential.
Purpose of the Study:
- To perform frequency domain stability analysis of a fast tool servo system with nonlinear ADRC.
- To investigate the generation and suppression of limit cycles.
- To compare the effectiveness of different stability analysis methods.
Main Methods:
- Root locus analysis with equivalent gain transformation.
- Describing function method for nonlinear system analysis.
- Extended circle criterion for absolute stability assessment.
Main Results:
- Root locus analysis identified limit cycle generation due to the nonlinear gain in ADRC.
- Adjustable parameters in the nonlinear function can suppress limit cycles.
- The describing function method showed limitations in precision for this nonlinear system.
Conclusions:
- Limit cycles in ADRC-controlled fast tool servo systems can be analyzed and suppressed.
- The extended circle criterion offers a complementary approach to absolute stability analysis.
- Careful selection and tuning of ADRC parameters are vital for system stability.
Keywords:
Active disturbance rejection controlCircle criterionDescribing functionLimit cycleNonlinear systemRoot locusMore Related Videos
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