Active Disturbance Rejection Control based Speed Control of DC Motor

Abstract

This paper introduces an active disturbance rejection control (ADRC) tools for speed control of DC motor. ADRC is healthy a nonlinear control method which has a strong robust performance against to outer disturbance and parametric discrepancies of system. The ADRC comprises of tracking differentiator (TD), extended State observer (ESO) and feedback control system (FCS). Firstly, a DC motor is sculpted by using actual data in this study. Secondly, controllers are designed and tested for speed control of DC motor. The dynamics of the ADRC based speed control of DC motor is compared with classical proportional-integral (PI), proportional-integral- derivative (PID), LAG compensator, LEAD compensator and fuzzy-logic (FLC) controllers. Relating of the step speed response with ADRC technique, simulation results validate that the proposed control method has excellent dynamic performance and heavy-duty robustness in the existence of model uncertainty as well as external disturbances. The unique part of this study is the comparison of various controllers for the speed control of DC with ADRC.