直线光栅伺服系统自抗扰控制仿真分析与实验研究

Simulation Analysis and Experimental Study on Active Disturbance Rejection Control of Linear Grating Servo System

伺服系统在实际运行过程中,会存在包括阻力、振动、直线电机的端部效应等扰动因素,这些因素会严重影响系统的控制性能。针对主要的扰动因素设计相应的控制器来改善系统的性能是十分必要的。为直线伺服平台设计了自抗扰控制算法,通过数值仿真研究了该算法中主要参数对直线伺服平台控制性能的影响,比较了在系统中自抗扰控制算法与传统PID控制算法对阶跃响应以及常值干扰的控制效果。仿真和实验结果表明:自抗扰控制对比PID控制有对阶跃响应能平衡快速响应与无超调,对常值扰动的抑制能力明显更强等优势,证明了自抗扰控制能迅速抑制常值扰动的能力。

Servo system in the actual operation process,there will be resistance,vibration,linear motor end effect and other disturbing factors,these factors will seriously affect the control performance of the system. It is very necessary to design the controller for the main disturbance factors to improve the system performance. An active disturbance rejection control algorithm is designed for linear servo platform,and the influence of some parameters of the algorithm on the control performance of linear servo platform is studied through simulation. And the effect of ADRC algorithm and traditional PID control algorithm on step response and constant disturbance is compared. Simulation and experimental results show that ADRC can balance fast response and no overshoot to step response compared with PID control,and it is obviously stronger to suppress constant disturbance,which proves that ADRC can quickly suppress constant disturbance.