Research on Flexible Servo Control Based on Linear Active Disturbance Rejection Control
For the active supple control of robot joints with many problems such as modeling errors,chan-ges in motor system parameters and the effects of system perturbations introduced by high sampling fre-quency and high control frequency at the driver layer.In this paper,we propose a supple control method based on active disturbance rejection control,which realizes the supple control by controlling the Quadrature axis current of the underlying driver,and the design of an external torque observer can achieve the real-time torque estimation under the condition of no force sensor to reach the purpose of flexible joint drive.Real-time torque estimation is designed to achieve the purpose of flexible joint drive.The experiments compare the position and electromagnetic torque responses of the rigid position control and the flexible control under the same step input,and verify the effectiveness of the proposed flexible control method.In addition,the effects of damping coefficients and stiffness coefficients on the position response and electromagnetic torque response of the flexure control are explored.Finally,experimental validation is carried out in a single-de-gree-of-freedom system,and the experimental results verify the effectiveness of the method.
active flexibility controlactive disturbance rejection controlexternal moment estimationjoint drive
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