精密运动平台线性自抗扰控制  

Linear active disturbance rejection control used in precision motion platform

作　　者：陈兴林[1] 刘川[1] 武志鹏[1] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《中南大学学报（自然科学版）》2013年第8期3210-3215,共6页Journal of Central South University:Science and Technology

基　　金：国家科技重大专项资助项目(2009ZX02207)

摘　　要：基于高动态精密伺服运动平台系统模型提出一种线性自抗扰控制方法。该方法的控制器通过扩张状态观测器观测系统的动态变化,补偿系统中的未建模动态和各种扰动,为减小系统的动态跟踪误差,再运用前馈对系统的跟踪误差进行补偿。在此复合控制方式下,控制器实现自抗扰控制,前馈控制器很好地补偿误差,解决一般反馈控制系统在提高控制精度与确保系统稳定性之间存在的矛盾。实验结果表明:提出的线性自抗扰控制方法改善高动态精密伺服运动平台系统的动态性能和抗干扰能力,提高系统的定位精度。A linear active disturbance rejection controller design for high dynamic precision servo system was presented. The controller is designed through an extended state observer to estimate the system＇s state and compensate the variant dynamics of the system, the external disturbance, and other uncertainties. To improve the tracking performance of the dynamic system, the tracking error is added to the reference input and used as feed-forward error compensation. Under such a combined control method, the controller has the ability of active disturbance rejection, and the feed-forward error compensation controller compensates tracking error well, which makes a very good solution to the contradiction between the improving control accuracy and ensuring system stability in the general feedback control system. The experiments show that the linear active disturbance rejection controller design can improve the dynamic performance and the anti-jamming capability of the high dynamic precision servo system, and enhance the control precision.

关 键 词：自抗扰 前馈补偿 高动态精密伺服 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]