Engineering Commons^™

Implementation Of An Advanced Controller On A Torsional Mechanism, Chintan Trivedi

ETD Archive

The hardware implementation of an active disturbance rejection controller (ADRC) is presented in the thesis for a mechanical torsional plant. ADRC is a novel disturbance rejection control technique that is not completely dependent on mathematical models of physical systems. In ADRC framework external disturbances, system uncertainties, and internal dynamics of the system are estimated as a generalized disturbance by an extended state observer and the generalized disturbance is effectively canceled by a PD controller. A torsional plant represents a class of rotational systems. Its control challenges are the vibrations caused by mass imbalance, centrifugal imbalance, and the imbalance caused by …