基于变增益自抗扰控制的永磁同步直线电机位置伺服系统

Variable Gain Active Disturbance Rejection Control for Permanent Magnet Synchronous Linear Motorposition Servo System

摘要: 为提高永磁同步直线电机(PMLSM)位置控制系统的跟踪性能和抗干扰能力，本文提出了基于变增益自抗扰控制的PMLSM位置伺服系统。首先，采用正切sigmoid函数设计改进微分跟踪器(ITD)，提高系统的跟踪性能，并使用终端吸引子函数降低由高频信号引起的颤振现象，使得ITD抑制噪声能力更强；在扩展状态观测器(ESO)的增益项中设计变增益误差校正函数，并将其引入到非线性误差控制律(NLSEF)中，和ITD一起构成了变增益自抗扰控制器，以减小初始峰值误差，进一步提高系统的跟踪精度和抗干扰性能。仿真和实验结果可以看出，与传统ADRC相比，新方法的响应时间加快了0.65 s，突加负载时调节时间减小了0.16 s，位置跌落值减小了96.3%，可有效提高PMLSM位置伺服系统的动态性能、鲁棒性以及运行可靠性。

Abstract: To improve the tracking performance and anti-disturbance ability of position control system of permanent magnet synchronous linear motor (PMLSM), a position servo system based on variable gain active disturbance rejection control is proposed in this paper. First, the tangent sigmoid func-tion is used to design an improved differential tracker (ITD) to improve the tracking performance of the system, and the terminal function is used to reduce the chatter caused by high frequency sig-nals, which makes the noise suppression ability of ITD stronger. The variable gain function is de-signed in the gain term of the extended state observer (ESO) and introduced into the nonlinear stateerror feedback (NLSEF). The variable gain ADRC controller is constructed together with ITD to reduce the initial peak error and further improve the tracking accuracy and anti-disturbance per-formance of the system. The simulation and experimental results show that compared with the tra-ditional ADRC, the response time of the new method is speed up by 0.65s, the adjustment time of sudden loading is reduced by 0.16s, and the position drop value is reduced by 96.3%, which can ef-fectively improve the dynamic performance, robustness and operation reliability of PMLSM position servo system.