2 results about "Speed loop" patented technology

The invention provides an active-disturbance-rejection controller and a design method thereof. The active-disturbance-rejection controller comprises a LuGre modeling module which is used for identifying parameters of a LuGre model of a servo system, a speed loop reduced order expansion state observer used for estimating a compensation error after the LuGre model compensates a friction torque, a speed loop linear control law module used for compensating a compensation error estimated by the speed loop reduced order expansion state observer, a position loop expansion state observer used for estimating other disturbances including a residual torque, and a position loop linear control law module used for compensating other disturbances including the residual torque estimated by the position loop expansion state observer. According to the scheme of the invention, the active-disturbance-rejection controller can effectively overcome the influence of a non-linear friction on the servo system, and improves the dynamic performance and control precision of the servo system. The bandwidth of the expansion state observer can be effectively reduced.