WCSE 2015
ISBN: 978-981-09-5471-0 DOI: 10.18178/wcse.2015.04.038

Precise Angle Control of BLDC Motor Driven Multi Channel Electromechanical Actuator Base on ADRC Method

Xiong Chen, Aitian Yan, Yebing Cui, Jian Zheng

Abstract— In this paper modeling, simulation and control of multichannel electromechanical actuator (EMA) for tactical missiles with permanent magnet brushless dc motor (BLDC) were investigated. To improve performances of the system, an extended state observer-based timeoptimal control (ESO-TOC) is proposed in this paper, which based on active disturbance rejection control (ADRC).Total disturbance is estimated by an extended state observer, and the nonlinear system is compensated as a linear one. Time-optimal control is used to realize accurate angle motions with minimal time. Simulations and experimental setup are used to demonstrate the effectiveness of the proposed control method. The performance of PID control is compared to the ESO-TOC control in simulation and ESO-TOC control is robust to large parameter variations of 50%. The experimental results show close agreement with the simulation results. The proposed method proved effective by achieving a transient time of 12.5 ms in 5 degree and the bandwidth of the EMA system could achieve 10 Hz, and also good positioning performance has been achieved in the presence of both model uncertainties and external disturbances.

Index Terms— Electromechanical actuator, brushless dc motor, active disturbance rejection control, extended state observer, time-optimal control.

Xiong Chen, Aitian Yan
School of Mechanical Engineering, Nanjing University of Science and Technology, CHINA
Yebing Cui, Jian Zheng
Control Technology Institute of SAST, CHINA


Cite: Xiong Chen, Aitian Yan, Yebing Cui, Jian Zheng, "Precise Angle Control of BLDC Motor Driven Multi Channel Electromechanical Actuator Base on ADRC Method," 2015 The 5th International Workshop on Computer Science and Engineering-Information Processing and Control Engineering (WCSE 2015-IPCE), pp. 231-238, Moscow, Russia, April 15-17, 2015.