ADRC Based on Fuzzy State Observer with Varying Dynamics Applied for Two-Mass System

Abstract

Due to the constant improvement of technological processes in today's industry, there is a visible struggle to improve a deployment process of new scientific solutions. As the complexity of industrial machinery increases, it becomes more difficult to conduct a whole implementation quickly and successfully during the first attempt. One of the most challenging issues is the dependency of the designed control systems on the plant parameters, they are meant to control. The paper proposes a novel solution, which allows to control a two-mass electric drive unit, considering a significant uncertainty in flexible shaft parameterization. The described solution is based on the Active Disturbance Rejection Controller (ADRC) with Fuzzy Extended State Observer (FESO), which increases the dynamics of the estimated disturbance regarding the actual torque demand. The experimental verification proves that the elaborated solution provides the possibility to operate the drive with roughly known shaft parameters, including efficient damping capabilities of torsional vibrations and remarkable overshoot minimization.