Double-loop compensated active disturbance rejection control of electromechanical servo system based on composite disturbance observer

Zhenhao Su, Wankai Shi, Jiandong Duan, Lang Xu, Mingliang Zhou

Abstract: Maintaining stable rotor speed is essential for the safe flight of rotorcraft. However, nonlinear aerodynamic forces and unknown disturbances pose significant obstacles to achieving high-performance speed tracking in rotor electric drive systems. This paper proposes a novel double-loop compensated active disturbance rejection control (DLC-ADRC) method to handle disturbances and improve tracking performance. Specifically, a dynamic compensation matrix containing current errors is constructed grounded in the principles of internal model control (IMC), enhancing the current loop’s ability to track and suppress multi-source disturbances. Furthermore, an extended state observer (ESO) based on a new fal-function is designed for the speed loop to improve the system’s efficiency and accuracy in compensating for total disturbances. Additionally, an efficient intelligent ant colony optimization (ACO) algorithm is introduced to enable global adaptive updates of the controller parameters. Finally, the stability of the closed-loop system is rigorously established using Lyapunov theory. Simulation and experimental results demonstrate that the proposed method significantly enhances speed tracking accuracy and dynamic performance of the servo system, even in environments with strong interference.