High-Precision Anti-Interference Control of Direct Drive Components
This study presents a compound control algorithm that enhances the servo accuracy and disturbance suppression capability of direct drive components (DDCs). The servo performance of DDCs is easily affected by external disturbance and the deterioration of assembly characteristics due to a lack of dece...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-03-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/11/3/95 |
| _version_ | 1797473393913626624 |
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| author | Jieji Zheng Xianliang Jiang Guangan Ren Xin Xie Dapeng Fan |
| author_facet | Jieji Zheng Xianliang Jiang Guangan Ren Xin Xie Dapeng Fan |
| author_sort | Jieji Zheng |
| collection | DOAJ |
| description | This study presents a compound control algorithm that enhances the servo accuracy and disturbance suppression capability of direct drive components (DDCs). The servo performance of DDCs is easily affected by external disturbance and the deterioration of assembly characteristics due to a lack of deceleration device. The purpose of this study is to compensate for the impact of external and internal disturbances on the system. First, a linear state space model of the system is established. Second, we analyzed the main factors restricting the performance of DDCs which includes sensor noise, friction and external disturbance. Then, a fractional-order proportional integral (FOPI) controller was used to eliminate the steady-state error caused by the time-invariable disturbance which can also improve the system’s anti-interference capability. A state-augmented Kalman filter (SAKF) was proposed to suppress the quantization noise and compensate for the time-varying disturbances simultaneously. The effectiveness of the proposed compound algorithm was demonstrated by comparative experiments, demonstrating a maximum 89.34% improvement. The experimental results show that, compared with the traditional PI controller, the FOPISAKF controller can not only improve the tracking accuracy of the system, but also enhance the disturbance suppression ability. |
| first_indexed | 2024-03-09T20:14:51Z |
| format | Article |
| id | doaj.art-b61f17d7f0a94a39a3597d6cefd51f00 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T20:14:51Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-b61f17d7f0a94a39a3597d6cefd51f002023-11-24T00:04:58ZengMDPI AGActuators2076-08252022-03-011139510.3390/act11030095High-Precision Anti-Interference Control of Direct Drive ComponentsJieji Zheng0Xianliang Jiang1Guangan Ren2Xin Xie3Dapeng Fan4College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, ChinaCollege of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, ChinaCollege of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, ChinaCollege of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, ChinaCollege of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, ChinaThis study presents a compound control algorithm that enhances the servo accuracy and disturbance suppression capability of direct drive components (DDCs). The servo performance of DDCs is easily affected by external disturbance and the deterioration of assembly characteristics due to a lack of deceleration device. The purpose of this study is to compensate for the impact of external and internal disturbances on the system. First, a linear state space model of the system is established. Second, we analyzed the main factors restricting the performance of DDCs which includes sensor noise, friction and external disturbance. Then, a fractional-order proportional integral (FOPI) controller was used to eliminate the steady-state error caused by the time-invariable disturbance which can also improve the system’s anti-interference capability. A state-augmented Kalman filter (SAKF) was proposed to suppress the quantization noise and compensate for the time-varying disturbances simultaneously. The effectiveness of the proposed compound algorithm was demonstrated by comparative experiments, demonstrating a maximum 89.34% improvement. The experimental results show that, compared with the traditional PI controller, the FOPISAKF controller can not only improve the tracking accuracy of the system, but also enhance the disturbance suppression ability.https://www.mdpi.com/2076-0825/11/3/95direct drive componentsdisturbance suppressionfractional-order controlstate-augmented Kalman filter |
| spellingShingle | Jieji Zheng Xianliang Jiang Guangan Ren Xin Xie Dapeng Fan High-Precision Anti-Interference Control of Direct Drive Components Actuators direct drive components disturbance suppression fractional-order control state-augmented Kalman filter |
| title | High-Precision Anti-Interference Control of Direct Drive Components |
| title_full | High-Precision Anti-Interference Control of Direct Drive Components |
| title_fullStr | High-Precision Anti-Interference Control of Direct Drive Components |
| title_full_unstemmed | High-Precision Anti-Interference Control of Direct Drive Components |
| title_short | High-Precision Anti-Interference Control of Direct Drive Components |
| title_sort | high precision anti interference control of direct drive components |
| topic | direct drive components disturbance suppression fractional-order control state-augmented Kalman filter |
| url | https://www.mdpi.com/2076-0825/11/3/95 |
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