A Position Control Algorithm of Bucket Wheel Reclaimer Based on LADRC

Bucket wheel reclaimer (BWR) is broadly used in the process of reclaiming operation in mines and metallurgical enterprises. The Accuracy and dynamic response performance of of its position control algorithm directly affects the efficiency of unmanned equipment. In this paper, a position control algorithm of BWR based on linear active disturbance rejection control (LADRC) is proposed, and a extended state observer (ESO) is designed to observe the total disturbance of the system caused by the uncertain friction due to high dust and muck as well as the parameter uncertainty related to different material quality of the loader. Besides, the stability of the observer is analyzed theoretically. Simulation shows that the algorithm can effectively achieve the control objectives, dynamic performance and steady-state error can be well considered, besides, the algorithm has strong anti-disturbance ability.