PLADRC: A Special Design Scheme of LADRC for Wireless DC Motors Under Phase-Shift Control

Wireless DC motor is an emerging research topic. Linear active disturbance rejection controller (LADRC) has been widely applied to motor systems owing to good tracking and disturbance rejection performance. However, without special design, it cannot be directly applied to nonlinear plants such as wireless DC motors under phase-shift control. In this article, a special design scheme, i.e., predictive LADRC (PLADRC), is proposed to accommodate the nonlinearity of the phase-shift controlled wireless DC motor. First, the mathematical model of the phase-shift control system for series-series compensated wireless DC motor is constructed. Then, a predictive equation is established to model the nonlinear part of the plant, so as to separate the linear part from the original plant and extract the linear part, i.e., a pure DC motor model. Next, the LADRCs for speed and stator current loops of the wireless DC motor system can be designed based on the linear part of the plant. Finally, simulation results show that the PLADRC possesses better tracking performance and disturbance rejection ability for the control of speed and current compared to the conventional proportional-integral (PI) controller.