基于自抗扰控制的新型直线电机轨迹跟踪研究∗

摘要

In order to test the trajectory tracking performance of a novel linear motor, the dynamical model of the linear motor and closed-loop control systems based on active disturbance rejection controller were pro-posed. Single position feedback control system and three closed-loop control system of current, velocity and position were adopted. Simulation and experimental results indicate that the active disturbance rejection con-trol law can eliminate undesired effects caused by parameter uncertainties and external disturbances such as friction effectively. Meanwhile, faster response and smaller tracking error can be obtained by three closed-loop control system rather than single closed-loop control system.%为了研究新型直线电机的轨迹跟踪性能，在推导出的直线电机动态模型的基础上，提出了基于自抗扰控制器的位置单闭环控制系统和电流、速度、位置三闭环控制系统。仿真和实验结果表明，自抗扰控制算法可以有效地抑制系统运行过程中参数的不确定性以及摩擦等外部扰动的影响，从而保证跟踪精度。同时，三闭环控制系统可以获得比单闭环控制系统更快的响应速度和更高的跟踪精度。