直线伺服电动机自抗扰控制系统研究  

Research of Linear Servo Motor Control System Based on Active Disturbance Rejection Controller

作　　者：党超亮 同向前[1] 杨树德[1] 

机构地区：[1]西安理工大学自动化学院,陕西西安710048

出　　处：《电气传动》2015年第7期64-69,73,共7页Electric Drive

基　　金：陕西省重点学科建设专项基金(5X1301);高等学校博士学科点专项科研基金(20126118110009)

摘　　要：针对直线伺服电机多变量、强耦合的非线性特性,结合自抗扰控制策略,给出了直线电机自抗扰控制系统设计详细的理论推导与实现方案。在此基础上,基于Matlab/Simulink仿真平台构建了完整的系统仿真模型,针对速度控制系统分别采用了串级一阶ADRC、二阶ADRC、MADRC与"ADRC+PID"组合算法进行了仿真分析;位置控制系统分别采用了MADRC与传统ADRC策略进行了仿真验证,仿真结果表明与串级一阶ADRC及"ADRC+PID"组合算法相比,该改进型ADRC动静态特性与鲁棒性良好。In view of the Linear servo motor characteristics of mnltivariable, nonlinear and strong coupling, combined with auto disturbances rejection control strategy. Gave out detailed theoretical derivation and implementation design of linear servo motor control system. On this basis, a complete system simulation model was built based on Matlab / Simulink simulation platform. For the speed control system adopted cascade control system of first order, second order ADRC, MADRC and ADRC ＋ PID algorithm simulation verification ： the position control system adopt the improved ADRC, MADRC with the traditional ADRC strategy had been carried on the simulation analysis. Simulation results show that compared with the cascade of first- order ADRC and ＂ADRC ＋ PID＂ combination algorithm, the improved ADRC has good dynamic, static characteristics and good robustness.

关 键 词：直线伺服电动机 自抗扰 解耦控制 速度控制 位置控制 

分 类 号：TM431[电气工程—电器]