Research on Servo Control System Based on Linear Active Disturbance Rejection Control Technology

Active disturbance rejection controller(ADRC) is a kind of controller which does not depend on the precise mathematical model of the control object. It has the characteristics of small overshoot and strong robustness. However, due to the introduction of nonlinear function, the parameters are difficult to be adjusted. The linearization of ADRC is called linear ADRC. Based on the theory of linear active disturbance rejection control for permanent magnet synchronous motor servo system, the current loop, speed loop and the position loop LADRC controller are designed and compared. The simulation results show that the servo system with LADRC controller has good dynamic performance and steady-state performance, strong anti-interference ability and easy tuning.