基于自抗扰的宏微复合驱动器宏动控制策略研究

Research on macromotion control strategy of macro-micro composite actuator based on active disturbance rejection control

面向高速精密定位领域设计了以音圈电机为宏动部分,超磁致伸缩驱动器为微动部分的同轴式宏微复合驱动器。为实现宏动部分的驱动控制,基于电磁驱动原理建立了宏动部分的动力学模型,设计了自抗扰控制(active disturbance rejection control,ADRC)系统,其包括4阶扩张状态观测器及非线性状态误差反馈控制率,采用5阶S型位移曲线作为路径规划,并搭建了实验测试平台进行验证。实验结果显示:定位过程中,ADRC算法控制下其最大跟随误差约为0.155 mm,最终定位误差约为9μm,在负载工况下,最大跟随误差约为0.277 mm,最终定位误差约为11μm。研究结果表明:ADRC算法较于PID算法跟随误差更低,超调更小,且最终定位误差处于宏微复合驱动器微动的定位范围内,满足整体设计要求。

Aiming to precise positioning field,A coaxial macro-micro composite actuator with voice coil motor as macromotion part and giant magnetostrictive actuator as micromotion part is designed.In order to realize the control of the macromotion part,a dynamic model of the macromotion part is established based on the principle of electromagnetic drive,the active disturbance rejection control system is designed for the macromotion part,which includes 4-order extended state observer and non-linear state error feedback controller.The 5-order S-type displacement curve path planning is used.The experimental results show that the maximum following error of the ADRC algorithm is about 0.155 mm,and the final location error is about 9μm;Under load condition,the maximum following error of the ADRC algorithm is about 0.277 mm,and the final positioning error is 11μm.The research results show that compared with PID algorithm,ADRC has lower following error and overshoot,and the final location error is within the micro positioning range of micromotion part,which meets the overall design requirements.