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Method for realizing improved active disturbance rejection based on linear extended state observer and laser cutting follow-up control device

An expansion state, laser cutting technology, applied in the direction of program control, digital control, laser welding equipment, etc., can solve the problems of affecting processing efficiency, increasing processing difficulty, affecting development efficiency, etc. Adjustable effects

Inactive Publication Date: 2021-01-05
SHANGHAI WEIHONG ELECTRONICS TECH +2
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Problems solved by technology

The current algorithm uses a nonlinear extended state observer. Since it contains multiple nonlinear functions and each parameter needs to be adjusted separately, the existing ADRC algorithm has the following disadvantages: complex debugging parameters, affecting development efficiency, and ultimately affecting processing efficiency, increasing processing difficulty

Method used

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  • Method for realizing improved active disturbance rejection based on linear extended state observer and laser cutting follow-up control device
  • Method for realizing improved active disturbance rejection based on linear extended state observer and laser cutting follow-up control device
  • Method for realizing improved active disturbance rejection based on linear extended state observer and laser cutting follow-up control device

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Embodiment approach

[0027] As a preferred embodiment of the present invention, the method also includes the following steps:

[0028] The linear expansion state observer adjusts the step size h according to different performance indicators and hardware and software conditions.

[0029] As a preferred embodiment of the present invention, the method also includes the following steps:

[0030] In the process of laser follow-up control, the state observer receives the analog voltage corresponding to the digital output of the controller as an input signal, and outputs the feedback height of the capacitive displacement sensor.

[0031] As a preferred embodiment of the present invention, the system internal state x in the steps 1 (t) is the equivalent amount of displacement of the system, x inside the system 2 (t) is the equivalent velocity of the system.

[0032] The laser cutting follow-up control device for realizing the above method includes NCStudio platform, motion control card, EX33A control c...

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Abstract

The invention relates to a method for realizing improved active disturbance rejection based on a linear extended state observer. The method comprises the following steps that: the linear extended state observer feeds back position information through the input control quantity and capacitance of a system to obtain a position estimator and a disturbance estimator, and the estimated state is close to the real state as much as possible by adjusting the coefficient of the observer. The invention further relates to a laser cutting follow-up control device. By adopting the method for realizing the improved active disturbance rejection based on the linear extended state observer, and the laser cutting follow-up control device, the linear state observer can effectively estimate the state of each order in the system, and compared with a common state observer,the linear state observer has the advantages that the linear function form is adopted, bandwidth concepts in classic control can be used as analysis means, parameters are convenient to adjust, and implementation is easy.

Description

technical field [0001] The invention relates to the field of laser cutting follow-up control, in particular to the field of extended state observers, in particular to a method for realizing improved self-disturbance based on a linear extended state observer and a laser cutting follow-up control device. Background technique [0002] ADRC algorithm is mainly composed of tracking differentiator, extended state observer and nonlinear combination. In the active disturbance rejection control algorithm, the extended state observer regards the uncertain factors that act on the controlled object as disturbances, and the uncertain factors come from the inside and outside of the system. The extended state observer estimates the two kinds of disturbances and compensates the estimated disturbances to achieve disturbance cancellation. Extended state observers can be divided into linear extended state observers and nonlinear extended state observers according to whether the error feedback...

Claims

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Application Information

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IPC IPC(8): G05B19/19B23K26/38
CPCB23K26/38G05B19/19G05B2219/35349
Inventor 郑之开吴昊朱成坤陈豫
Owner SHANGHAI WEIHONG ELECTRONICS TECH
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