Improving the stabilization accuracy of a platform using active disturbance rejection control and field-oriented control.

This paper presents a strategy to increase the accuracy and robustness of a stabilized platform based on Active Disturbance Rejection Control (ADRC) and Field-Oriented Control (FOC) of the BLDC motor. With the ADRC controller, the effects of both the internal uncertain dynamics and the external multisource disturbances on the system output are compensated as a total disturbance in real-time. The FOC reduces torque ripple resulting in smoother motor performance, less noise and more accuracy in platform position. The results show that in comparison with the PID controller, the strategy has excellent capability in disturbance rejection and the stabilization accuracy is improved. [ABSTRACT FROM AUTHOR]