Optimal Control Method of Motor Torque Loading via Active Disturbance Rejection Control

This paper provides a optimal control method of motor torque loading using active disturbance rejection control (ADRC) for the problem of insufficient accuracy of motor torque under load. First, the parameters of the tracking differentiator (TD) and the extended state observer (ESO) of the ADCR controller are established and their values are set. Secondly, the control and disturbance compensation are carried out to control the motor according to the given signal and the differential of the given signal obtained by the TD and the error of the system output and output derivative observed by the ESO. Finally, the simulation and experiment results show that the ADRC has great advantages in response speed, anti-interference ability and loading accuracy, and the error accuracy and error range are controlled within $\pm 0.003N\cdot m$ compared with the traditional PID.