Fractional order auto-disturbance motion control method based on adjustable-order filter

Abstract

The invention discloses a fractional order auto-disturbance motion control method based on an adjustable-order filter. The method comprises steps that according to the Newton's law of motion, a nonlinear dynamic model of a motion control system is established; measurement noise is filtered through utilizing the adjustable-order filter; the order of the filter is adjusted to achieve the better filtering result; an extended state observer is utilized to improve the disturbance suppression effect of the system; a motion controller is designed through utilizing the fractional proportional differential algorithm, and the tracking reference input is made to output. The method is advantaged in that parameter adjustment is flexible, engineering realization is easy, and the suppressing ability of the motion control system for measurement noise and interference is effectively improved.

Description

technical field

[0001] The invention relates to a fractional-order active disturbance rejection motion control method based on an adjustable-order filter, and belongs to the technical field of motion control. Background technique

[0002] Motion control technology is widely used in today's industries, such as motor motion control, CNC machine tools, robot control, etc. Motion control refers to the control of motion quantities such as position / displacement, speed, and acceleration. Compared with other types of motion actuators, electric motors are used as motion actuators, which have the advantages of simple structure, fast response, high precision and efficiency, and are conducive to realizing high-performance motion control such as high-speed or low-speed, high-precision, etc., in modern industry, civil, It has broad application prospects in fields such as medical treatment, transportation and military affairs.

[0003] Due to the influence of factors such as friction, sy...

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