中文摘要：

自抗扰控制器能将被控对象的内、外“总扰动”进行估计并用前馈补偿的方法将其抵消,适于力矩电机因直接驱动所带来干扰的补偿与控制;针对测量噪声对线性自抗扰控制器观测器带宽的限制,提出了二阶线性自抗扰的相似结构,并结合三阶积分链式微分器对其效果进行了对比仿真验证;力矩电机的控制仿真实验表明,与二阶线性自抗扰算法相比,基于相似结构的改进的力矩电机控制,能在有测量噪声情况下兼顾系统跟踪精度、突加负载时抗扰动性.

英文摘要：

Active disturbance rejection controller （ADRC） has the ability to estimate ＂total disturbance＂ of the plant including the internal and external disturbance, and offset the total disturbance through the method of feedforward, which is appropriate for the anti--disturbance requirement of direct drive torque motor servo system. For the limitation of the linear active disturbance rejection controller （LADRC） observer bandwidth caused by measurement noise, a similar LADRC （SI.ADRC） combined with third order integral chained differentiator is proposed. Compared with second--order LADRC, simulation results verify that the improved control of torque motor based on the similar structure takes fully into account the tracking precision of the system, load disturbance under the circumstance of measurement noise.