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<p>To address the issue of disturbance compensation deviation in linear active disturbance rejection control (LADRC), a linear active disturbance rejection control method with reference to the integral chain model (LADRC-R) is proposed. By constructing an ideal control reference model, a dynamic correlation between output deviation and uncompensated disturbances is established, and a dual-loop compensation mechanism is designed. Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems, this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50% and introducing no phase lag during low-frequency disturbance suppression. Simulations on second-order systems verify its robustness under parameter perturbations, gain mismatch, and complex disturbances, and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference. Finally, the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform, providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.</p>

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LADRC method referring to the integral chain model: design of dual-loop disturbance compensation and engineering verification

  • 期刊论文

  • 发表日期：

    2025年8月12日

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  • Yao Qin,
  • Hailin Hu,
  • Jie Yang

摘要

To address the issue of disturbance compensation deviation in linear active disturbance rejection control (LADRC), a linear active disturbance rejection control method with reference to the integral chain model (LADRC-R) is proposed. By constructing an ideal control reference model, a dynamic correlation between output deviation and uncompensated disturbances is established, and a dual-loop compensation mechanism is designed. Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems, this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50% and introducing no phase lag during low-frequency disturbance suppression. Simulations on second-order systems verify its robustness under parameter perturbations, gain mismatch, and complex disturbances, and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference. Finally, the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform, providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.