Research on Friction Compensation Method of Electromechanical Actuator Based on Improved Active Disturbance Rejection Control

• Published in: Actuators Vol. 12; no. 12; p. 445
• Main Authors: Zhang, Pan, Shi, Zhaoyao, Yu, Bo
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.12.2023
• Subjects: Accuracy; Active control; Actuators; ADRC; Analysis; Circuits; Compensation; Control algorithms; Control methods; Friction; friction compensation; Friction factor; Friction reduction; Inertia; integrated electromechanical actuator; Load; Mathematical models; Methods; PMSM; Rejection; Temperature effects; Torque; Tracking control; Velocity

The friction factor of harmonic reducers affects the transmission accuracy in electromechanical actuators (EMAs). In this study, we proposed a friction feedforward compensation method based on improved active disturbance rejection control (IADRC). A mathematical model of EMA was developed. The relat...