MF型音圈电机滑模-自抗扰控制研究

Research on MF Voice Coil Motor Based on Sliding Mode-active Disturbance Rejection Control

针对系统外部不确定扰动及内部摩擦力等非线性特性对MF型音圈电机控制系统的影响,提出了基于滑模控制与自抗扰控制结合的复合控制。建立了基于改进LuGre动态摩擦力电机模型,设计了内环采用PI控制的双闭环控制,其中外环在系统远离滑模面时采用滑模控制实现快速响应,到达滑模面趋近平衡点时采用自抗扰控制消除抖振,提高系统稳定性和控制精度。通过与PID控制以及滑模控制对比的仿真和试验数据表明:提出的滑模-自抗扰控制显著提升了MF型音圈电机阶跃响应时间、相位滞后时间、控制精度,同时系统对负载变化以及噪声具有较强的抗扰性和鲁棒性。

Aiming at the influence of nonlinear factors such as external uncertain disturbance and internal friction on MF voice coil motor control system,a composite control based on the combination of sliding mode control and active disturbance rejection control was proposed.Based on the improved LuGre dynamic friction model,a double closed-loop control with PI controller in the inner loop was designed.The outer loop adopted sliding mode control to realize fast response when the system was far away from the sliding surface,and adopted active disturbance rejection control to eliminate chattering when the system reached the sliding surface close to the equilibrium point,thus improving the system stability and control accuracy.Compared with PID control and sliding mode control,the simulation and experimental data shows that the proposed sliding mode-active disturbance rejection control significantly improves the step response time,phase lag time and control accuracy of MF voice coil motor,and the system has strong disturbance rejection and robustness to load variation and noise.