Phase lead linear active disturbance rejection controller of permanent magnet synchronous linear motor platform

Abstract

The invention discloses a phase lead linear active disturbance rejection controller of a permanent magnet synchronous linear motor platform, and belongs to the technical field of control engineering.The purpose of the invention is to provide the phase lead linear active disturbance rejection controller of the permanent magnet synchronous linear motor platform, so by adopting a mode of improving feedback control rate by using a lead compensation loop, the system bandwidth is expanded, the problem of phase lag of an extended state observer in traditional linear active disturbance rejection control is solved and tracking precision and the anti-interference capacity of the system is improved. According to the invention, a conventional three-order linear extended state observer is designed fora mathematical model of the second-order permanent magnet synchronous linear motor; a phase lead feedback controller is designed for the second-order integral model of the controlled object after disturbance estimation and compensation; and the parameters of the phase lead linear active disturbance rejection controller are adjusted by utilizing the accurate estimation of the linear extended stateobserver on the total disturbance and the real-time compensation characteristic of the phase lead PI feedback controller on the total disturbance until an expected control effect is achieved. According to the invention, the estimation speed and precision of total disturbance are improved, and an expected control effect is obtained.

Description

technical field [0001] The invention belongs to the technical field of control engineering. Background technique [0002] Ironless permanent magnet synchronous linear motor has the advantages of no cogging effect and high dynamic response, and is widely used in the field of ultra-precision machining. However, due to the presence of nonlinear disturbances such as thrust fluctuations, the machining accuracy is severely limited. Therefore, it has important theoretical significance and practical application value to study the nonlinear interference suppression of ironless permanent magnet synchronous linear motor. [0003] In the actual system, the specific expression of the nonlinear disturbance of the linear motor platform is too complex, which affects the modeling accuracy of the system, so the direct design of the compensation strategy is considered to simplify the process to avoid this influence. As a control method with active disturbance rejection as the core and less d...

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Problems solved by technology

This leads to the fact that the conventional extended state observer only has a good estimation effect for constant disturbances, but there is a phase lag problem when estimating time-varying disturbances, which affects the estimation accuracy of the total disturbance, and then affects the final control accuracy

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