线性自抗扰控制在大口径双面抛光机速度伺服系统中的应用

Application of Linear Active Disturbance Rejection Control in the Speed Servo System of Large Diameter Double-sided Polishing Machine

大口径双面抛光机对速度控制精度和抗干扰能力提出了较高的要求,将线性自抗扰控制器应用于抛光机的速度控制中。在Simotion平台上,采用模块化编程方法,使用梯形图实现了线性自抗扰控制器。进行了驱动器控制和LADRC控制的阶跃响应实验和抗扰能力实验,以及在驱动器性能不佳的情况下LADRC对控制对象的改造实验。实验结果均表明线性自抗扰控制器显著提高了系统的响应速度、控制精度和抗干扰能力。最后给出了线性自抗扰控制器在数控机床中编程、调试和应用的总结,为在大型运动控制场合应用线性自抗扰控制器提供了经验和依据。

The large-caliber double-sided polishing machine puts forward higher requirements on the speed control accuracy and anti-interference ability;and the linear active disturbance rejection controller is applied to the speed control of the polishing machine. On the Simotion platform,a modular programming method is adopted and a ladder diagram is used to implement a linear active disturbance rejection controller. The step response experiment and anti-disturbance experiment of driver control and LADRC control are carried out,as well as the modification experiment of LADRC on the control object under the condition of poor driver performance. The experimental results all show that the linear active disturbance rejection controller significantly improves the response speed,control accuracy and anti-interference ability of the system. Finally,a summary of the programming,debugging and application of the linear active disturbance rejection controller in CNC machine tools is given,which provides experience and basis for the application of linear active disturbance rejection controller in large-scale motion control occasions.