Application of CMAC Neural Network Coupled with Active Disturbance Rejection Control Strategy on Three-motor Synchronization Control System

• Main Authors: Hui Li, Xingqiao Liu, Jing Li
• Format: Article
• Language: English
• Published: IFSA Publishing, S.L. 2014-04-01
• Series: Sensors & Transducers
• Subjects: Cerebellar model; Active Disturbance Rejection Control; Decoupling ability; Feedback; Anti-interference.
• Online Access: http://www.sensorsportal.com/HTML/DIGEST/april_2014/Vol_169/P_PR_0111.pdf
• ISSN: 2306-8515; 1726-5479

Three-motor synchronous coordination system is a MI-MO nonlinear and complex control system. And it often works in poor working condition. Advanced control strategies are required to improve the control performance of the system and to achieve the decoupling between main motor speed and tension. Cerebellar Model Articulation Controller coupled with Active Disturbance Rejection Control (CMAC-ADRC) control strategy is proposed. The speed of the main motor and tensions between two motors is decoupled by extended state observer (ESO) in ADRC. ESO in ADRC is used to compensate internal and external disturbances of the system online. And the anti interference of the system is improved by ESO. And the same time the control model is optimized. Feedforward control is implemented by the adoption of CMAC neural network controller. And control precision of the system is improved in reason of CMAC. The overshoot of the system can be reduced without affecting the dynamic response of the system by the use of CMAC-ADRC. The simulation results show that: the CMAC- ADRC control strategy is better than the traditional PID control strategy. And CMAC-ADRC control strategy can achieve the decoupling between speed and tension. The control system using CMAC-ADRC have strong anti-interference ability and small regulate time and small overshoot. The magnitude of the system response incited by the interference using CMAC-ADRC is smaller than the system using conventional PID control 6.43 %. And the recovery time of the system with CMAC-ADRC is shorter than the system with traditional PID control 0.18 seconds. And the triangular wave tracking error of the system with CMAC-ADRC is smaller than the system with conventional PID control 0.24 rad/min. Thus the CMAC-ADRC control strategy is a good control strategy and is able to fit three-motor synchronous coordinated control.