基于改善型自抗扰控制的永磁直线同步电机单轴伺服系统直接力控制

Direct Force Control of Permanent Magnet Linear Synchronous Motor Single Axis Servo System Based on Improved Active Disturbance Rejection Control

摘要: 在单轴伺服系统的直接力控制中，电机的输出位置会受到负载力、摩擦力等因素的影响，考虑到PID控制器对参数变化的适应性差以及响应速度与超调量无法兼顾等问题，通过采用自抗扰控制(ADRC)代替PID的方式提高系统的控制性能；针对传统ADRC的非线性函数在分段点处存在抖动以及切换不平滑的问题，设计了一种连续光滑的非线性函数，并分别对扩张状态观测器(ESO)以及非线性状态误差反馈控制律(NLSEF)进行改进；针对改进型自抗扰控制(I-ADRC)，给出了其参数整定的一般规律，并将其应用于单轴永磁同步直线电机(PMLSM)的直接力控制(DFC)中。在空载与变载两种情况下将I-ADRC与PID以及一些现有的自抗扰控制策略进行仿真对比，实验结果表明采用改进型自抗扰控制器的直接力控制，具有更好的跟随性能以及抗干扰能力。

Abstract: In direct force control of a single-axis servo system, the output position of the motor is affected by factors such as load force and friction. Considering the poor adaptability of the PID controller to parameter changes and the inability to balance response speed and overshoot, the control performance of the system is improved by using Active Disturbance Rejection Control (ADRC) instead of PID. A continuous and smooth nonlinear function was designed to address the issues of jitter and unsmooth switching at the segmentation points in traditional ADRC nonlinear functions. Improvements were made to the Extended State Observer (ESO) and the Nonlinear State Error Feed-back Control Law (NLSEF), respectively. A general rule for parameter tuning of Improved Active Disturbance Rejection Control (I-ADRC) is provided, and it is applied to Direct Force Control (DFC) of Single Axis Permanent Magnet Synchronous Linear Motor (PMLSM). The simulation comparison between I-ADRC and PID, as well as some existing self-disturbance rejection control strategies, was conducted under both no-load and variable-load conditions. The experimental results showed that using an improved self-disturbance rejection controller for direct force control has better tracking performance and anti-interference ability.