一种精密运动平台轨迹跟踪控制器设计  

Trajectory Tracking Controller Design for Precision Motion Platforms

作　　者：李坤全[1] 邵凤翔[1] Li Kunquan;Shao Fengxiang(Henan Institute of Engineering,Henan Zhengzhou 451191,China)

机构地区：[1]河南工程学院,河南郑州451191

出　　处：《科技通报》2017年第8期105-109,共5页Bulletin of Science and Technology

基　　金：河南省郑州市科技发展计划科技攻关项目(20140599)

摘　　要：针对基于直线电机的精密运动平台轨迹跟踪控制问题,基于零相位误差跟踪控制器(ZPETC)和干扰观测器(DOB)提出了一种跟踪控制方法,以提高精密运动平台的干扰抑制能力和轨迹跟踪性能。给出了永磁直线电机和运动平台数学模型。ZPETC是一种前馈控制器,通过零极点对消实现误差抑制,可以提高系统的响应速度和跟踪性能,降低系统动态跟踪误差;而干扰观测器则可以补偿系统参数变化、模型不确定、外部扰动、机械非线性等,提高了系统抗干扰能力。实验结果表明:所述方法不仅能够确保系统跟踪性能而且具有较强的鲁棒性,从而改善了运动平台的轨迹跟踪效果。In order to solve the trajectory tracking control problem of precision motion platforms with linear motors,a tracking control method is proposed based on zero phase error tracking controller(ZPETC)and disturbance observer(DOB)and its interference rejection capability and trajectory tracking performance are improved.The mathematical models of the permanent magnet linear motor and the motion platform are given.ZPETC is a feed-forward controller and the error can be restrained through pole zero cancellation.The response speed and tracking performance can be improved and the system dynamic tracking error is also reduced.The disturbance observer can compensate the system parameter change,model uncertainty,external disturbance,machinery nonlinear etc,so the system antiinterference ability can be improved.The experimental results show that the method can not only ensure system tracking performance but also have strong robustness and the trajectory tracking of moving platform effect is enhanced.

关 键 词：精密运动平台 零相位误差跟踪控制 干扰观测器 轨迹跟踪 

分 类 号：TM351[电气工程—电机]