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

A motion control and motion control system technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of control performance impact, amplified measurement noise, high gain, etc., to improve filtering effect and parameter adjustment Flexible, reduced amplification effects

Active Publication Date: 2018-08-28
NANJING INST OF TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

However, common active disturbance rejection controllers have high gain, and will amplify measurement noise at the same time, which will easily affect the control performance

Method used

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

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Embodiment Construction

[0044] The present invention will be further described below. 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.

[0045] like figure 1 As shown, the fractional order active disturbance rejection motion control method based on the adjustable order filter of the present invention comprises the following steps:

[0046] Step 1. According to Newton's law of motion, a nonlinear dynamic model of the motion control system is established.

[0047] The differential equation of the motion control system is described as follows:

[0048]

[0049] Among them, u is the phase voltage of the motion actuator, that is, the control amount, i is the phase current of the motion actuator; R and L are the phase resistance and phase inductance of the motion actuator respectively; m is the motion mass, x is the motion displacement, that is, the state variable; K m and ...

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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...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 施昕昕黄家才
Owner NANJING INST OF TECH
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