Adaptive Smith Predictive Active Disturbance Rejection Control of Magnetic Suspended Rotor System Considering Time Delay

In magnetic suspended rotor (MSR) systems, the presence of various time-delay elements is inevitable. When significant time delays occur, control signals may fail to adapt promptly to system dynamics, resulting in diminished disturbance rejection capabilities and potential system oscillations or instability. To address these issues, this article proposes an adaptive Smith predictive active disturbance rejection controller (SP-ADRC). This controller integrates an improved SP-ADRC with a cross-correlation time delay identifier. Initially, the improved SP-ADRC utilizes a model-assisted expanded state observer (MESO) to observe system disturbances, thereby rendering the system equivalent to a second-order integral system. It compensates for the effects of time delay on the MSR system by designing a Smith predictor for the equivalent system. Subsequently, a cross-correlation time delay identifier is introduced to obtain real-time system time delay by processing data and performing cross-correlation time delay identification operations on the input and output signals of the system. Finally, the identification results are integrated into the Smith predictor to adaptively compensate for time delay factors within the system. Simulation and experimental outcomes demonstrate that the proposed algorithm significantly enhances system performance and exhibits robust adaptability to system time delays, thus holding substantial importance for research on time-delay control in MSR systems.