ADRC with Adaptive Parameter Identification and Feedforward Compensation for Motion Systems

In aerospace actuation systems, electric motors face severe nonlinear disturbance coupling under extreme operating conditions. Externally, aerodynamic load transients and nonlinear transmission dynamics generate disturbances exceeding multiple times the rated torque. Simultaneously, configuration-dependent inertia variations and temperature-induced parameter deviations create a multi-source uncertain control environment. To address conventional PID control's limitations in strong disturbance-parameter variation scenarios, this study proposes an active disturbance rejection control (ADRC) algorithm featuring parameter identification and feedforward compensation. Simulation results demonstrate that the proposed algorithm significantly outperforms conventional PID control in dynamic response, disturbance rej ection, and tracking accuracy, effectively enhancing control performance under strong disturbance-parameter time-varying coupling scenarios.