基于模糊自抗扰的精密直线电机运动控制

Precise Linear Motor Motion Control Based on Fuzzy ADRC

针对精密直线电机运动平台模型参数不确定以及直线电机结构特性带来的端部效应和定位力波动等非线性因素引起的系统动态响应性能下降问题,分析了直线电机运动平台数学模型,设计了一种模糊自抗扰控制器(ADRC)。通过Simulink建立伺服运动平台和控制器模型,并进行仿真优化。仿真结果表明,与传统PID控制器和经典ADRC相比,设计的模糊ADRC的跟随误差明显下降,抵抗系统扰动能力明显上升,说明了模糊ADRC具有更高精度的动态跟随能力及更好的抗干扰性、鲁棒性和自适应能力。

In the precise linear motor motion platform systems,the nonlinear factors such as model parameter uncertainties and the end effect and positioning force fluctuation caused by the motor structural characteristics may lead to the dynamic response degradation.Aiming at this problem,the mathematical model of the linear motor motion platform is analyzed.A fuzzy active disturbance rejection controller(ADRC)is designed,and models of the servo motion platform and the controller are established using Simulink.Simulation is performed to further optimize the control parameters.The simulation results show that,compared with the traditional PID controller and the classical ADRC,the following error decreases and the anti-interference capability increases significantly,indicating that the fuzzy ADRC has more precise dynamic following ability and better anti-interference capability,robustness and adaptive ability.