{"id":"https://openalex.org/W3131075827","doi":"https://doi.org/10.1109/access.2021.3060925","title":"Load Adaptive PMSM Drive System Based on an Improved ADRC for Manipulator Joint","display_name":"Load Adaptive PMSM Drive System Based on an Improved ADRC for Manipulator Joint","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3131075827","doi":"https://doi.org/10.1109/access.2021.3060925","mag":"3131075827"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3060925","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3060925","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09359767.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09359767.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051238728","display_name":"Wenqi Lu","orcid":"https://orcid.org/0000-0003-1715-2150"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenqi Lu","raw_affiliation_strings":["Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100429937","display_name":"Qiang Li","orcid":"https://orcid.org/0000-0002-1198-7862"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Li","raw_affiliation_strings":["Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050113336","display_name":"Kaiyuan Lu","orcid":"https://orcid.org/0000-0003-4012-2611"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Kaiyuan Lu","raw_affiliation_strings":["Aalborg University, Aalborg, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aalborg University, Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100783637","display_name":"Yujun Lu","orcid":"https://orcid.org/0000-0001-8288-1195"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujun Lu","raw_affiliation_strings":["Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024373580","display_name":"Guo Liang","orcid":"https://orcid.org/0000-0001-8277-260X"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Guo","raw_affiliation_strings":["Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100520088","display_name":"Weican Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weican Yan","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University, Hangzhou, China","Wolong Electric Group Company Ltd., Shaoxing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Wolong Electric Group Company Ltd., Shaoxing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048473676","display_name":"Feng Xu","orcid":"https://orcid.org/0000-0002-7034-9705"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng Xu","raw_affiliation_strings":["Maider Medical Industry Equipment Company Ltd., Taizhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Maider Medical Industry Equipment Company Ltd., Taizhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":6.509,"has_fulltext":true,"cited_by_count":78,"citation_normalized_percentile":{"value":0.97358771,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"9","issue":null,"first_page":"33369","last_page":"33384"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10504","display_name":"Sensorless Control of Electric Motors","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10504","display_name":"Sensorless Control of Electric Motors","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6812270283699036},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6684540510177612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6371139287948608},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.5818015933036804},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5061425566673279},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47412753105163574},{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.4363703429698944},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42109352350234985},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3089215159416199},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25348567962646484},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1344347596168518},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12320557236671448}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6812270283699036},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6684540510177612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6371139287948608},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.5818015933036804},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5061425566673279},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47412753105163574},{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.4363703429698944},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42109352350234985},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3089215159416199},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25348567962646484},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1344347596168518},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12320557236671448},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2021.3060925","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3060925","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09359767.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire/f644f759-ad9c-4602-8304-52651e039176","is_oa":false,"landing_page_url":"https://vbn.aau.dk/da/publications/f644f759-ad9c-4602-8304-52651e039176","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lu, W, Li, Q, Lu, K, Lu, Y, Guo, L, Yan, W & Xu, F 2021, 'Load Adaptive PMSM Drive System Based on an Improved ADRC for Manipulator Joint', IEEE Access, vol. 9, 9359767, pp. 33369-33384. https://doi.org/10.1109/ACCESS.2021.3060925","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:doaj.org/article:5a7ed81b3b7b4b29b792938de4ebaaca","is_oa":true,"landing_page_url":"https://doaj.org/article/5a7ed81b3b7b4b29b792938de4ebaaca","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 33369-33384 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3060925","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3060925","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09359767.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2010460147","display_name":null,"funder_award_id":"LY18E070006","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G4110185981","display_name":null,"funder_award_id":"2019Q031","funder_id":"https://openalex.org/F4320324847","funder_display_name":"Zhejiang Sci-Tech University"},{"id":"https://openalex.org/G5001614205","display_name":null,"funder_award_id":"LY19E070006","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G616791598","display_name":null,"funder_award_id":"51677172","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324847","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3131075827.pdf","grobid_xml":"https://content.openalex.org/works/W3131075827.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1984351430","https://openalex.org/W2031599416","https://openalex.org/W2517047582","https://openalex.org/W2562093128","https://openalex.org/W2621227348","https://openalex.org/W2729047699","https://openalex.org/W2791709924","https://openalex.org/W2809991445","https://openalex.org/W2895750896","https://openalex.org/W2901250298","https://openalex.org/W2904446620","https://openalex.org/W2908477712","https://openalex.org/W2909945725","https://openalex.org/W2911725628","https://openalex.org/W2912484125","https://openalex.org/W2947806187","https://openalex.org/W2948216163","https://openalex.org/W2965264179","https://openalex.org/W2968788025","https://openalex.org/W2998870437","https://openalex.org/W3000932720","https://openalex.org/W3001060540","https://openalex.org/W3015616704","https://openalex.org/W3017442242","https://openalex.org/W3035652546"],"related_works":["https://openalex.org/W152605265","https://openalex.org/W3095489175","https://openalex.org/W2573045761","https://openalex.org/W2791240990","https://openalex.org/W1486209696","https://openalex.org/W4230747644","https://openalex.org/W3169911176","https://openalex.org/W2376469465","https://openalex.org/W2115261773","https://openalex.org/W2021648837"],"abstract_inverted_index":{"High-speed":[0],"and":[1,19,50,77,150],"high-precision":[2],"position":[3,40],"servo":[4,41],"system":[5,93,137],"of":[6,16,21,33,47,63,115],"permanent":[7],"magnet":[8],"synchronous":[9],"motor":[10],"(PMSM)":[11],"is":[12,31,107,129],"the":[13,17,22,34,39,45,55,60,113,116,135,140],"key":[14],"part":[15],"research":[18],"development":[20],"manipulator's":[23],"joint.":[24],"The":[25,131],"active":[26],"disturbance":[27],"rejection":[28],"control":[29],"(ADRC)":[30],"one":[32],"commonly":[35],"used":[36],"methods":[37],"in":[38],"system,":[42],"which":[43,65],"has":[44,66,143],"advantages":[46],"fast":[48,147],"speed":[49],"easy":[51],"physical":[52],"realization.":[53],"However,":[54],"existing":[56],"ADRC":[57,100],"mostly":[58],"adopts":[59],"three-loop":[61],"structure":[62],"position-speed-current,":[64],"some":[67],"problems":[68],"such":[69],"as":[70],"slow":[71],"positioning":[72,75,145,148],"response,":[73,149],"poor":[74,78],"accuracy,":[76,146],"load":[79,89,153],"adaptability":[80,151],"caused":[81],"by":[82,139],"difficult":[83],"parameter":[84,103],"tuning.":[85],"Therefore,":[86],"a":[87,102,118,122],"new":[88],"adaptive":[90],"two-loop":[91],"drive":[92,136],"based":[94],"on":[95],"an":[96],"improved":[97],"position-speed":[98],"integrated":[99],"with":[101],"fuzzy":[104],"self-tuning":[105],"method":[106,142],"proposed.":[108],"In":[109],"order":[110],"to":[111,152],"verify":[112],"effectiveness":[114],"scheme,":[117],"test":[119],"platform":[120],"for":[121],"Selective":[123],"Compliance":[124],"Assembly":[125],"Robot":[126],"Arm":[127],"(SCARA)":[128],"established.":[130],"results":[132],"show":[133],"that":[134],"designed":[138],"proposed":[141],"high":[144],"changes.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":28},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
