The dredger cutter motion control system based on ADRC technology

In this paper, an Active Disturbance Rejection Controller (ADRC) is introduced into the system named the dredger cutter motion control, aiming at achieving the cutter motor synchronous speed control precisely. Because the load power of cutter motor may changes drastically at work, it is important that the parallel drive of two cutter motors is designed to keep the system secure and ensure its reliability. Previous studies have already indicated that the traditional approach by PID controller can not meet the performance index anymore. Therefore, the ADRC algorithm is presented and compared with the traditional PID in this work. A lot of comparative experiments were implemented and response curves were obtained by MATLAB, and experimental dates showed that the ADRC algorithm is feasible.