Vibration Suppression in Position Servo Systems via Active Disturbance Rejection Control

An active control strategy is presented to eliminate the position vibration in the servo system. First of all, the dynamics of the servo system is analyzed, a mathematical model is built, and the mechanism of vibration is fully analyzed. Secondly, a controller based on active disturbance rejection control (ADRC) is proposed to suppress the vibration and to improve the dynamic performance. Thirdly, the disturbance estimation performance of the extended state observer (ESO) is analyzed. The extended state observer (ESO) is used to estimate the total disturbance and then compensate the disturbance. Finally, simulations are carried out and verification experiments are done, showing that the proposed method has high resonance suppression performance and high disturbance rejection performance.