振镜电机离散自抗扰控制器设计与仿真

Design and Simulation of Discrete Active Disturbance Rejection Controller for Galvanometer Motor

摘要: 近年来，激光扫描技术广泛应用于制造业领域，呈现出良好的发展前景。针对激光振镜扫描系统易于受到内外部扰动等不确定因素影响，提出一种基于离散自抗扰控制器的振镜电机控制结构。自抗扰控制算法作为一种无模型控制算法，在不准确建模情况下，仍然可以实现很好的响应特性和抗干扰能力。首先，建立了振镜电机的动力学模型，构建了状态空间方程；接着，将建模误差和外部干扰作为状态变量，建立了扩张状态观测器和改进的PD控制器，之后对控制器进行了离散化设计。最后在Simulink搭建控制系统的仿真模型，仿真实验结果表明，该控制策略实现了良好的动态性能，能够满足实际应用条件。

Abstract: Aiming at the problem that the laser galvanometer scanning system is easy to be affected by un-certain factors such as internal and external disturbances, a galvanometer motor control structure based on discrete active disturbance rejection (ADRC) controller was proposed. As a model-free control algorithm, active disturbance rejection control algorithm can still achieve good response characteristics and anti-interference ability under the condition of inaccurate modeling. Firstly, the dynamic model of the galvanometer motor is established, and the state space equation is con-structed. Then, taking the modeling error and external interference as state variables, an extended state observer and an improved PD controller are established, and then the controller is discretized. Finally, the simulation model of the control system is built in Simulink. The simulation results show that the control strategy achieves good dynamic performance and can meet the practical applica-tion conditions.