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
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.