基于ADRC的四臂桥驱动伺服系统死区效应补偿  

Compensation of Dead Zone Effect of a Four-Arm Bridge Driving Servo System Based on ADRC

作　　者：刘超辉 张倩[1,2] 王群京[1,3] 符梦虎[1] 杨衡 陈帝江 LIU Chaohui;ZHANG Qian;WANG Qunjing;FU Menghu;YANG Heng;CHEN Dijiang(School of Electrical Engineering and Automation,Ministry of Education,Anhui University,Hefei 230601,China;National Engineering Laboratory of Energysaving Motor&Control Technology,Ministry of Education,Anhui University,Hefei 230601,China;Power Quality Engineering Research Center,Ministry of Education,Anhui University,Hefei 230601,China;The 38th Research Institute of CETC,Hefei 230601,China)

机构地区：[1]安徽大学电气工程与自动化学院,合肥230601 [2]安徽大学高节能电机及控制技术国家地方联合实验室,合肥230601 [3]安徽大学教育部电能质量工程研究中心,合肥230601 [4]中国电子科技集团第三十八研究所,合肥230601

出　　处：《组合机床与自动化加工技术》2023年第7期114-118,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(52077001)。

摘　　要：为了降低死区效应对伺服电机驱动系统的影响,对驱动电路进行设计、分析的基础上,引入自抗扰控制并串联内模状态观测器加以优化,对产生的死区进行补偿。首先,提出了一种四臂桥变换器驱动电路拓扑结构,分析了臂桥产生的死区电压规律。提出齿隙死区模型,分析齿隙死区对系统的影响;其次,将扩张状态观测器与内含内模原理的观测器串联,设计出可降阶的新型死区补偿控制器;最后,将改进的自抗扰控制策略应用于四臂桥驱动伺服电机齿隙死区模型,改善系统性能。结果表明,引入改进自抗扰控制器后,死区效应对伺服系统的影响降低了约40%,系统抗干扰能力增强,补偿效果稳定。In order to reduce the influence of the dead zone effect on the servo motor system,based on the design and analysis of the drive circuit in this paper,the active disturbance rejection control is introduced and the internal model state observer is connected in series for optimization to compensate the generated dead zone.Firstly,a four-arm bridge converter drive circuit topology is proposed,the law of dead zone voltage generated by arm bridge is analyzed.The backlash dead zone model is proposed,the effect of backlash dead zone on the system is analyzed.Secondly,combining the expansion state observer with the internal model principle observer in series,a novel dead-time compensation controller with reduced order is designed.Finally,the improved active disturbance rejection control strategy is applied to the dead zone model of the four-arm bridge drive servo motor to improve the system performance.The results show,after introduction of the improved ADRC,the dead-time effect on the servo system is reduced by about 40%,the anti-interference ability of the system is enhanced,the compensation effect is stable.

关 键 词：四臂桥变换器 自抗扰控制 驱动电路 死区效应 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]