Research of high-speed parallel manipulator of auto-disturbance ejection control algorithm

An improved active disturbances rejection control (ADRC) algorithm is presented to solve the problem of terminal precise positioning and jitter suppression of the high-speed parallel robot's with nonlinear, strong coupling, high-speed, high acceleration and other characteristics. The state space equations of the mechanical arm are derived, in which nonlinear terms of the system are expressed as the coupling parameters. An adaptive algorithm is developed to identify these coupling parameters in real-time. The nonlinear controller of the system is designed based on the active disturbances rejection control algorithm. The simulation results show that compared to traditional proportional-differential control, the improved active disturbances rejection control algorithm has distinct advantages of reducing the overshoot and improving the terminal positioning accuracy, especially in the requirement of rapid response of the mechanical arm. The improved active disturbances rejection control strategies can describe the uncertainty of the system, solve the contradiction between rapid response and overshoot of high-speed parallel robot, and thus improve the dynamic performance of the system.