Against such characteristics as multivariable

strong coupling

nonlinear and time varying that appeared during the ball mill control

the active disturbance rejection control(ADRC) scheme was proposed.The multivariable ball mill pulverizing system was regarded as multiple univariate loop systems

and for each loop system

the active disturbance rejection controller was designed

so the ball mill pulverizing ADRC system was established.The coupling of variables

regarded as the"external disturbance"of each loop system

was estimated by the extended state observer(ESO)

and then compensated in the feed-forward channel

so as to achieve the decoupling control of the ball mill pulverizing system.Compared with the conventional PID decoupling control system

the simulation experimental results showed that the ADRC based ball mill pulverizing control system had strong adaptability

high interference rejection

and good decoupling ability.