Motor control technology based on fractional active disturbance rejection

Abstract

Abstract For non-linear, strongly coupled, multivariable and naturally unstable motor control systems to realize the rapid return of the motor to the original equilibrium point without overshoot, the traditional PID controller algorithm is prone to defects such as large overshoot and long response time. The study proposes fractional order active disturbance rejection control for the motor self-balancing control method. A novel controller composed of a fractional order controller and an active disturbance rejection controller is designed and its control characteristics are analyzed and simulated. The experimental results show that compared with the traditional PID control, the controller has better dynamic performance, steady-state performance and anti-interference ability so that the motor can reach the equilibrium position quickly, stably and accurately. The illustrations of the experimental verification have been modified and explained.