Research On Road Disturbance Control Based On Active Disturbance Rejective Algorithm

When running on the uneven road, the vehicle may bump and shake, and dither makesthe vehicle equipment hard to work. A stablized platform is installed between the vehiclebody and the equipment. With the proper design of control algorithm, the system can isolatedisturbances caused by changes of body posture, and keep the platform from the affect ofvehicle movement. Aiming at the vehicle stablized platform system, this issue conducts aresearch on road disturbance control system based on Active Disturbance Rejective Control(ADRC) algorithm. The new algorithm is verified by simulation and physical experiments.First of all, the affect of road disturbance is studied. A time domain model of roadroughness and a1/2vehicle body model are established respectively, and the time domainresponse of pitching movement is obtained. Then the composition of the stablized platformsystem is analyzed, and mathematical model of process is obtained by frequency domainidentification method. Linear ADRC control system and PID control system are designed torun comparative simulation experiments. The results show that the former one has betterperformance in road disturbance control, but there still has room for improvement.Secondly, in order to improve dynamic response ability and tracking accuracy of thelinear ADRC, efforts are made in two ways. On one hand, a new linear trackingdifferentiator is designed on the basis of the classical differentiator. It can track arbitrarydifferential signals, and under certain conditions, it is equivalent with high gain trackingdifferentiator. Simulation results show that the improved linear tracking differentiatorworks better in tracking differential signals, and can minimize noise amplification. On theother hand, a new control law based on the inverse hyperbolic sine function is proposed,and the stability proof is also given. The simulation results prove that the new control lawcan further reduce the tracking error and achieve better performance.Finally, in order to verify the practical effect of the improved ADRC algorithm in roaddisturbance control, a vehicle stablized platform is designed and realized. The selection ofdevices and the design of stable platform architecture are completed according to theparameter index of platform system. Using the improved ADRC algorithm, the vehiclestabilized platform can isolate road disturbance and keep the platform’s attitude angle.