Abstract:Aiming at the problems of the timevarying load and model uncertainties in industrial robot joint servo system, a variablegain adaptive disturbance rejection control strategy based on inertia estimation is proposed in this paper. First of all, the mathematical model of joint servo system is established. The second order state equation of joint servo system is obtained through frequency domain analysis. In order to reduce the influence of disturbance and uncertain parameters, the linear extended state observer is designed and the adaptive method is used to estimate the moment of inertia. At the same time, robust and sliding mode control are combined to keep the system stability. The relevant simulation and experiment research on the proposed control strategy were carried out. The experiment results show under this control strategy, the tracking error of the sinusoidal signal at the motor end is less than 02 rad, and the position error under load disturbance is less than 003 rad, which is reduced by about 40% compared with that for single adaptive disturbance rejection control. This controller has strong antiinterference performance, which improves the control accuracy and dynamic performance of joint servo system. .txt