Linear motor point position control device and method based on fractional order controller

Abstract

The invention discloses a linear motor point position control device based on a fractional order controller. The device comprises a fractional order controller, a driving module, a linear motor and a sensing module, wherein the fractional order controller comprises a tracking differentiator, a first differential module, a fractional order proportional differentiator, a second differential module and a state observer. A control method comprises the steps: allowing the sensing module to acquire an actual motion position x of the linear motor, allowing the fractional order controller to receive a target position xd of the linear motor, allowing the fractional order controller to output control quantity u by using the actual motion position x and the target position xd of the linear motor, transmitting the control quantity u to the driving module, and allowing the driving module to control operation of the linear motor. According to the method and the device, based on a fractional order calculus theory, the fractional order proportional differentiator is constructed to form the fractional order controller; the influence of non-linearity factors and uncertain interference of a system on system performance is effectively inhibited; and the precise point position control performance of the linear motor is achieved.

Description

technical field [0001] The invention relates to a linear motor point control device and method based on a fractional-order 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 the linear motor is more susceptible to factors such as system parameter changes, friction, and load disturbance, especially the nonlinear factors and uncertain interference of the system. Controls add a lot of difficult...

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Problems solved by technology

[0003] But it is precisely because of the lack of the buffering effect of the intermediate transmission link that the linear motor is more susceptible to factors such a

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