ADR algorithm applied in servo system driven by DC torque motor

In a servo system driven by DC torque motor, it is difficult to build models because there are several nonlinear and random factors and it is hard to compensate them, thus the control precision in simulation analysis and practical applications will be reduced. Hence, ADR algorithm was adopted to further improve servo precision for servo system driven by DC torque motor, in which the comprehensive disturbance instead of all factors was observed and compensated simultaneously. Through simulation study by building system model with extreme disturbance condition and comparison of different simulation results, the parameters for ADR algorithm were tuned. Real experiments with well tuned parameters was carried out to verify the validity of the algorithm on flight simulator table inner-axis driven by DC torque motor. The experimental results show that a high dynamic tracking performance is achieved and robustness of ADR algorithm is strong. Thus, to tune parameters of algorithm based on nominal model can be used in practical control systems.