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Linear motor active disturbance rejection control design method based on Taylor tracking differentiator

A technology of tracking differentiator and active disturbance rejection control, which is applied in motor generator control, AC motor control, electronic commutation motor control, etc. It can solve the problems of the system being susceptible to interference and poor robustness, and improve the servo tracking accuracy , the effect of high tracking accuracy

Active Publication Date: 2021-01-08
中国人民解放军火箭军工程大学
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Problems solved by technology

However, due to the lack of an intermediate mechanical connection device, the electromagnetic thrust of the linear motor directly acts on the load, the system is more susceptible to interference, and the robustness is poor

Method used

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  • Linear motor active disturbance rejection control design method based on Taylor tracking differentiator
  • Linear motor active disturbance rejection control design method based on Taylor tracking differentiator
  • Linear motor active disturbance rejection control design method based on Taylor tracking differentiator

Examples

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Embodiment

[0064] In order to verify the feasibility of the ADRC design method based on Taylor tracking differentiator provided by the present invention, in the attached figure 2 The verification is performed in the linear motor control system shown:

[0065] Based on the control design method proposed in this paper, the attached figure 2 The load of the linear motor system in is a weight with a total mass of 1.4kg, the mass of the linear motor mover is 1.79kg, the driver constant Ka=0.84A / V, and the thrust coefficient is Km=15N / A, and then use them to respectively Substitute into formula (1)-(6).

[0066] The ADRC design method based on Taylor tracking differentiator provided by the present invention is compared with the traditional ADRC design method, the controllers all use the PD controller with feedforward compensation, and the linearity of the traditional ADRC controller The extended state observer is designed as follows:

[0067]

[0068] Among them, if ω o When taking a ...

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Abstract

The invention discloses a linear motor active disturbance rejection control design method based on a Taylor tracking differentiator. Firstly, a Taylor tracking differentiator is designed by using feedback displacement information to estimate speed information, then a minimum-order extended state observer is designed by using the speed information to estimate interference on the linear motor, and aclosed-loop feedback controller selects PD control with feedforward compensation, so that limited bandwidth resources of the system are fully utilized, A system state and interference estimation scheme is reasonably designed, and the servo tracking precision of the linear motor is effectively improved.

Description

technical field [0001] The invention belongs to the technical field of servo motor control, and in particular relates to a design method for active disturbance rejection control of a linear motor based on a Taylor tracking differentiator. Background technique [0002] PID is a control technology for servo motors. In engineering practice, the most widely used regulator control laws are proportion, integration, and differentiation, referred to as PID control. At present, PID is still widely used in industry, but in the field of high-performance motor control, traditional PID cannot meet the high-precision control requirements of linear motors. [0003] The traditional PID control is a single-degree-of-freedom control structure, which has design limitations and cannot balance some conflicting performances well. For example, in order to improve the robustness of the system, an integral link is introduced in PID, but the integral link will cause the overshoot of the system to af...

Claims

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Application Information

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IPC IPC(8): H02P21/00H02P21/13H02P25/06
CPCH02P21/0003H02P21/13H02P25/06
Inventor 高钦和陈志翔谭立龙刘大伟邓钢锋唐圣金刘志浩马栋
Owner 中国人民解放军火箭军工程大学
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