Angle control method and device based on linear active disturbance rejection, equipment and medium

The invention discloses an angle control method and device based on linear active disturbance rejection, equipment and a medium. The method comprises the steps of determining a feed-forward theoretical value according to an expected turning angle of a steering wheel; determining a feedback value of linear active disturbance rejection according to the expected rotation angle of the steering wheel and a linear active disturbance rejection control component; determining the input torque of the EPS controller according to the feedforward theoretical value and the feedback value, and inputting the input torque to the EPS controller; wherein the linear active disturbance rejection control assembly comprises a linear tracking differential controller, a linear state error feedback device and an expansion observation state device. According to the embodiment of the invention, the input torque deviation caused by parameter inaccuracy and measurement jitter can be reduced. 本发明公开了一种基于线性自抗扰的角度控制方法、装置、设备及介质。该方法包括：根据方向盘的期望转