The Research Of Design Method Application Of The Active Disturbances Rejection Controller

In the paper, we do research on the design method of the active disturbances rejection controller (ADRC) thinking of the uncertainty and the disturbances of the stable system. We also apply the conclusion to the design of the table system. We give the proof of the mathematic description of the tracking differentiator (TD) grounding on the base theory which shows the thoughts of ADRC making up disadvantages of linear control by nonlinear factor, and then give the function description of nonlinear emendation and the extended states observer (ESO) according to the framework of the active disturbances rejection controlling system. We also analyze the characteristic of the parameters of TD, nonlinear emendation and ESO. In addition, we give the reason why the ESO could restrain the disturbances.As application of the research, we have designed the ADRC for a table control system based on the mathematic description. First, we give the general method of designing system with ADRC; then, we construct the mathematic model of the table by experiment, curve estimation and reduction; After that, we constitute the framework of the active disturbances rejection controlling system taking the model of the table as the plant, we also give the method of adjusting the parameters because of the importance of it, so we complete the design of the table system with ADRC using the method given; at last we simulate the table system in Matlab to validate the function of the ADRC at different working conditions.After the simulation, we apply the ADRC on the equipment to review the working status of the table system and analyze the effect of the ADRC in table system.We have shown the creation in theory and the availability in application by the study of ADRC. It is worth while to do more research on ADRC both in theory and in application.