Research on Vibration Suppression Algorithm of Servo Motor System based on Improved ADRC

In order to solve the chattering phenomenon at the end of servo system, an improved active disturbance rejection control scheme is designed in this paper. Aiming at the shortcomings of the nonlinear function in the traditional extended state observer, a new ESO design is completed. The link between the choice of each parameter and the control effect is thoroughly investigated, and the rule of parameter tuning is presented, in order to address the issues of numerous parameters to be tuned and ambiguous physical meaning of ADRC. The simulation research concludes by demonstrating the new algorithm's higher anti-disturbance performance and the efficiency of vibration suppression in terminal placement.