Considering the load mass variations in real applications, an adaptive disturbance rejection tracking controller for ball screw drive system is proposed in this article. In this control framework, active disturbance rejection controller, proportional-integral controller and feedforward controller based on the equivalent error model are combined to realize precision tracking control of the system. Besides, this control scheme is designed to automatically tune the controller gains according to the identified load mass. Comparative simulation and experimental results indicate that the proposed adaptive disturbance rejection tracking controller significantly outperforms the cascade P-PI (proportional position controller and proportional-integral speed controller) control scheme in the presence of load mass variations.
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