The active disturbance rejection control for the self-balancing moving platform of cable driven parallel robots

Inhalt:
A high precision control scheme based on active disturbance rejection control (ADRC) is proposed to improve the stability accuracy of the moving platform of 3DOF cable drive parallel robot. The ADRC can actively extract disturbance signals from the input signal of the controlled system, so as to suppress the influence of the disturbance on the moving platform. The ADRC based on current loop is designed, the internal and external multisource disturbances of the system can be estimated into the total interference in real time by the extended state observer (ESO). The disturbance rejection ability of the ADRC is analyzed by simulations, the simulation results show that the ADRC has excellent capability in disturbance rejection by comparing with the conventional PID controller and ESO/PID controller. It is found that when the frequency is below 5Hz, the greater is the vibration frequency of the stabilized platform, the stronger is the disturbance rejection ability of ADRC.