大行程直线运动平台自抗扰控制

Active Disturbance Rejection Control for Large Stroke Linear Motion Platform

大行程直线运动平台是复杂的非线性时变系统,系统的不确定因素较多。针对平台运动过程中受到的内扰和外扰问题,采用线性自抗扰控制进行控制。建立系统的动力学模型,分析系统非线性的原因;将系统的速度、位移作为状态变量,设计一个线性自抗扰控制器。将异于积分标准性系统的部分视为系统的总扰动,并在控制器中进行补偿。在仿真与工程实验中,分别加载S形曲线、正弦曲线运动,并进行抗扰性实验,将实验结果与PID控制算法进行比较。实验结果表明:在外部条件相同的情况下,线性自抗扰控制器不仅响应速度快、精度高,并且具有较强的鲁棒性,具备较好的工程应用前景。

The large-stroke linear platform is a complicated nonlinear time-varying system with many uncertainties. Linear active disturbance rejection controller(LADRC) was used to control the internal and external disturbances in the process of the platform motion. The dynamics model of the system was established, and the reason of system nonlinearity was analyzed. A LADRC in which the velocity and displacement of the system were treated as the state variables was designed. The part different from the integral standard system was considered as the total disturbance of the system and it was compensated in the controller. In simulation and engineering experiments, an S-curve and sinusoidal motion planning were applied respectively, to make disturbance rejection tests. The experimental results were compared with the PID control algorithm. At the same external conditions, the results show that the LADRC not only has fast response speed and high precision, but also has strong robustness and good prospects for engineering applications.