LADRC method referring to the integral chain model:design of dual-loop disturbance compensation and engineering verification
Yao Qin
Hailin Hu
Jie Yang
Jiangxi Provincial Key Laboratory of Maglev Rail Transit Equipment,Jiangxi University of Science and Technology,Ganzhou 341000,Jiangxi,China;School of Electrical Engineering and Automation,Jiangxi University of Science and Technology,Ganzhou 341000,Jiangxi,China
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 con-structing 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.Simula-tions 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 electromag-netic suspension platform,providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.
机标关键词：engineeringdisturbanceladrcdesignmethodchainmodelcompensation
论文发表日期：2025-08-30
在线出版日期：2025-12-09（本平台首次上网日期，不代表文献的发表时间）
页数：14( 364-377 )
英文信息