Device and method for tracking trajectory of linear motor based on improved auto-disturbance rejection controller

Abstract

The invention discloses a method and a device for tracking a trajectory of a linear motor based on an improved auto-disturbance rejection controller. The device is characterized by comprising a current sensor, a displacement sensor, a first comparison module, a current controller, a pulse width modulator, a power inverter, a linear motor and the improved auto-disturbance rejection controller, wherein the improved auto-disturbance rejection controller comprises a first-order differentiator, a second-order differentiator, a second comparison module, a third comparison module, a proportional differential controller, an extended state observer and a summation module. The method and the device for tracking the trajectory of the linear motor based on the improved auto-disturbance rejection controller have the beneficial effects that a conventional auto-disturbance rejection controller is improved so that the second derivative of the target trajectory is added, and the second derivative is combined with the controlled variable of the proportional differential controller to form a new intermediate controlled variable, and the improved auto-disturbance rejection controller is capable of effectively improving the precision of tracking on the trajectory of the linear motor in addition to effectively inhibiting the influence of system parameter perturbation and external disturbance on system performance, and further is low in tracking error.

Description

technical field [0001] The invention relates to a linear motor trajectory tracking control method and device based on an improved active disturbance rejection controller, and belongs to the technical field of linear motor motion control. Background technique [0002] Linear motors have outstanding advantages such as simple structure, fast response, high precision and efficiency, and have broad application prospects in modern industry, civil, medical, transportation and military fields. [0003] Because the linear motor cancels the intermediate transmission link, it is beneficial to realize high-speed or low-speed, high-precision linear motion. But it is precisely because of the lack of buffering effect of the intermediate transmission link that the linear motor is more susceptible to interference factors such as system parameter changes, friction force, and load disturbance force, which brings great difficulty to the trajectory tracking motion control of the linear motor. ...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a method that can realize high-precision trajectory tracking control of linear motors in the presence of parameter perturbations and external disturbances in t...

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