基于分数阶自抗扰的直线电机点位控制研究
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摘要
为了解决直线电机点位运动控制系统易受干扰影响的问题,基于分数阶微积分原理和自抗扰技术,提出了基于分数阶自抗扰的直线电机点位运动控制算法,包括跟踪微分器、加速度前馈环节、扩张状态观测器和分数阶比例微分控制器。分析了新型直线电机的设计尺寸、结构特点和工作原理,并建立了直线电机的数学模型。与常规自抗扰控制器以及传统比例积分微分控制器加参考加速度前馈环节进行对比,分别研究了系统未加负载、增加负载以及存在外部扰动时的点位运动性能。对比仿真和实验结果表明,分数阶自抗扰控制器能有效地实现直线电机点位运动控制性能。
In order to solve the problem that point-to-point positioning motion control system of linear motor is influenced by disturbances easily, based on fractional calculus principle and active disturbance rejection technique, a point-to-point positioning motion control algorithm for linear motor based on fractional-order active disturbance rejection controller is proposed, which includes tracking differentiator, acceleration feedforward, extended state observer and fractional order proportional derivative controller. The design dimensions, structural characteristics and working principles of the new linear motor are analyzed, and the mathematical model of the linear motor is established. Compared with conventional active disturbance rejection controller and traditional proportional integral differential controller plus reference acceleration feedforward, the point-to-point positioning motion performance of the system without load, load and external disturbance is studied respectively. Comparative simulation and experimental results show that fractional order active disturbance rejection controller can achieve point-to-point positioning motion control performance of linear motor effectively.
In order to solve the problem that point-to-point positioning motion control system of linear motor is influenced by disturbances easily, based on fractional calculus principle and active disturbance rejection technique, a point-to-point positioning motion control algorithm for linear motor based on fractional-order active disturbance rejection controller is proposed, which includes tracking differentiator, acceleration feedforward, extended state observer and fractional order proportional derivative controller. The design dimensions, structural characteristics and working principles of the new linear motor are analyzed, and the mathematical model of the linear motor is established. Compared with conventional active disturbance rejection controller and traditional proportional integral differential controller plus reference acceleration feedforward, the point-to-point positioning motion performance of the system without load, load and external disturbance is studied respectively. Comparative simulation and experimental results show that fractional order active disturbance rejection controller can achieve point-to-point positioning motion control performance of linear motor effectively.
引文
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[11] 周凯,孙彦成,王旭东,等.永磁同步电机的自抗扰控制调速策略[J].电机与控制学报,2018,22(2):57-63.
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[13] Huang J,Chen Y,Li H,et al.Fractional order modeling of human operator behavior with second order controlled plant and experiment research[J].IEEE/CAA Journal of Automatica Sinica,2016,3(3):271-280.
[2] 夏链,仇静,陆爱明,等.面向芯片封装的直线电机精密定位控制技术研究[J].合肥工业大学学报(自然科学版),2014,37(9):1025-1029.
[3] Nasiri-Gheidari Z,Tootoonchian F.Electromagnetic Design Optimization of a Modular Linear Flux-reversal Motor[J].Electric Power Components and Systems,2016,44(18):2112-2120.
[4] 杨伟东,贾鹏飞,杨泽青,等.直线电机进给系统伺服参数与控制参数设计[J].机床与液压,2018,46(1):97-101.
[5] 杨赟杰,朱纪洪,和阳.近似时间最优的舵机多模位置控制策略[J].控制理论与应用,2018,35(4):468-474.
[6] Janssens P,Van Loock W,Pipeleers G,et al.Efficient computation of time-optimal point-to-point motion trajectories[J].IEEE Transactions on Control Systems Technology,2015,23(2):679-686.
[7] 李义强,周惠兴,王先逵,等.直线电机伺服定位系统时间最优鲁棒控制[J].电机与控制学报,2011,15(3):13-18.
[8] Xiong Y,Wei J,Feng R.Adaptive robust control of a high-response dual proportional solenoid valve with flow force compensation[J].Proceedings of the Institution of Mechanical Engineers.Part I:Journal of Systems and Control Engineering,2015,229(1):3-26.
[9] 唐传胜,戴跃洪.无速度传感器永磁同步直线电机伺服系统的自适应鲁棒控制[J].组合机床与自动化加工技术,2013(11):64-67.
[10] 史伟民,欧阳博,杨亮亮,等.基于模型参考自适应控制的直线电机位置控制[J].机电工程,2017,34(3):260-266.
[11] 周凯,孙彦成,王旭东,等.永磁同步电机的自抗扰控制调速策略[J].电机与控制学报,2018,22(2):57-63.
[12] Xia Y,Fu M,Li C,et al.Active disturbance rejection control for active suspension system of tracked vehicles with gun[J].IEEE Transactions on Industrial Electronics,2018,65(5):4051-4060.
[13] Huang J,Chen Y,Li H,et al.Fractional order modeling of human operator behavior with second order controlled plant and experiment research[J].IEEE/CAA Journal of Automatica Sinica,2016,3(3):271-280.