基于分数阶自抗扰的直线电机点位控制研究

Point-to-point Positioning Control of Linear Motors Based on Fractional-order Active Disturbance Rejection

为了解决直线电机点位运动控制系统易受干扰影响的问题,基于分数阶微积分原理和自抗扰技术,提出了基于分数阶自抗扰的直线电机点位运动控制算法,包括跟踪微分器、加速度前馈环节、扩张状态观测器和分数阶比例微分控制器。分析了新型直线电机的设计尺寸、结构特点和工作原理,并建立了直线电机的数学模型。与常规自抗扰控制器以及传统比例积分微分控制器加参考加速度前馈环节进行对比,分别研究了系统未加负载、增加负载以及存在外部扰动时的点位运动性能。对比仿真和实验结果表明,分数阶自抗扰控制器能有效地实现直线电机点位运动控制性能。

In order to solve the problem that point-to-point positioning motion control system of linear motor is influenced by disturbances easily, based on fractional calculus principle and active disturbance rejection technique, a point-to-point positioning motion control algorithm for linear motor based on fractional-order active disturbance rejection controller is proposed, which includes tracking differentiator, acceleration feedforward, extended state observer and fractional order proportional derivative controller. The design dimensions, structural characteristics and working principles of the new linear motor are analyzed, and the mathematical model of the linear motor is established. Compared with conventional active disturbance rejection controller and traditional proportional integral differential controller plus reference acceleration feedforward, the point-to-point positioning motion performance of the system without load, load and external disturbance is studied respectively. Comparative simulation and experimental results show that fractional order active disturbance rejection controller can achieve point-to-point positioning motion control performance of linear motor effectively.