Rejection of torque disturbance in Direct Drive System

LI Jin-ying; FU Cheng-yu; YU Wei

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Rejection of torque disturbance in Direct Drive System

更新时间：2026-07-10

- Rejection of torque disturbance in Direct Drive System
- Vol. 16, Issue 4, Pages: 78-81(2011)
- 作者机构：
  
  1. 中国科学院光电技术研究所
  2. 中国科学院光束控制重点实验室
  3. 中国科学院研究生院
  4. 徐州空军学院
- 作者简介：
- 基金信息：
- DOI：
  CLC： TM341
- Published：2011
- 稿件说明：
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LI Jin-ying, FU Cheng-yu, YU Wei. Rejection of torque disturbance in Direct Drive System[J]. 2011, 16(4): 78-81.
DOI：

LI Jin-ying, FU Cheng-yu, YU Wei. Rejection of torque disturbance in Direct Drive System[J]. 2011, 16(4): 78-81. DOI：

摘要

针对直接驱动系统中转速容易受各种力矩扰动的影响

建立了电流、速度双闭环仿真系统

设计了速度环的自抗扰控制器.并加入了LuGre摩擦力矩、负载扰动力矩和电机波动力矩.仿真结果显示

自抗扰控制器比传统的PI算法有更好的扰动抑制能力.在有突加扰动力矩的情况下

转速恢复到设定值的时间仅为PI算法的5%;在速度过零点时

也能很好的补偿摩擦力矩的作用.对不同形式的速度信号

ADRC都显示了更好的动静态特性.

Abstract

In order to solve the influence of various torque disturbances in direct drive systems

a simulation including speed and current closed-loops was built

and an active disturbance rejection controller(ADRC) in speed loop was designed.LuGre friction model

load torque disturbance and fluctuation were combined.Simulations show that ADRC has better disturbance rejection than traditional PI algorithms.In the case of an accidental disturbance

the recovery time of ADRC is only 5% of PI.The friction torque was mostly ...

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