Linear-motor precision trajectory tracking device and method

A linear motor and trajectory tracking technology, which is applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problem of low trajectory tracking accuracy

Active Publication Date: 2016-05-04
NANJING INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in the existing technology, the biggest advantage of the ordinary ADRC controller is that it has a strong ability to resist system disturbances, but the trajectory tracking control accuracy is not high, and it cannot better realize the precise trajectory tracking control of the linear motor.

Method used

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  • Linear-motor precision trajectory tracking device and method
  • Linear-motor precision trajectory tracking device and method

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Embodiment Construction

[0043] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0044] Such as figure 1 As shown, the linear motor precision trajectory tracking device includes a fractional order active disturbance rejection controller, a first difference circuit, a current controller, a power drive amplifier, a current sensor and a displacement sensor.

[0045] The input end of the fractional-order ADR controller is the input end of the device, the output end of the fractional-order ADR controller is connected to the input end of the first difference seeking circuit, and the output end of the first difference seeking circuit is connected to the current control The input end of the current controller is connected to the input end of the power drive amplifier, the output en...

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Abstract

The invention discloses a linear-motor precision trajectory tracking device. The linear-motor precision trajectory tracking device comprises a fractional-order auto-disturbance rejection controller, a first differencing circuit, a current controller, a power driving amplifier, a current sensor and a displacement sensor. The fractional-order auto-disturbance rejection controller comprises an acceleration feed-forward circuit, a second differencing circuit, a third differencing circuit, a fractional-order controller, a summing circuit and an extended state observer. The invention further discloses a tracking method of the linear-motor precision trajectory tracking device. By means of the linear-motor precision trajectory tracking device and the method, the acceleration feed-forward circuit and the fractional-order controller are introduced on the basis of a common auto-disturbance rejection controller to form the fractional-order auto-disturbance rejection controller; compared with the common auto-disturbance rejection controller, by means of the fractional-order auto-disturbance rejection controller, the influence of non-linear factors of the system and the influence of indetermination interference of the system on the system performance can be effectively inhibited, and the linear-motor precision trajectory tracking control performance is achieved.

Description

technical field [0001] The invention relates to a linear motor precision trajectory tracking device and method, in particular to a linear motor precision trajectory tracking device and method based on a fractional-order active disturbance rejection controller, belonging to the technical field of linear motor motion control. Background technique [0002] Compared with traditional rotary motors, linear motors cancel the intermediate transmission link, and have the advantages of simple structure, fast response, high precision and efficiency, and are conducive to realizing high-performance linear motion such as high-speed or low-speed, high-precision, etc., in modern industry, civil, medical , transportation and military and other fields have broad application prospects. [0003] But it is precisely because of the lack of the buffering effect of the intermediate transmission link that linear motors are more susceptible to system parameter changes, friction and load disturbances,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
CPCG05B13/024
Inventor 施昕昕黄家才李宏胜
Owner NANJING INST OF TECH
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