明确观察状态下的高精度步进电机伺服系统自抗扰控制  

Active Disturbance Rejection Control of High-precision Stepping Motor Servo System under Clear Observation State

作　　者：袁芬 丁旭东 YUAN Fen;DING Xudong(Automation Engineering Department,Nanjing Vocational Institute of Mechatronic Technology,Nanjing 211306,China)

机构地区：[1]南京机电职业技术学院自动化工程系,江苏南京211306

出　　处：《机械制造与自动化》2024年第6期247-250,256,共5页Machine Building & Automation

基　　金：2023年江苏高校"青蓝工程"优秀青年骨干教师培养对象资助项目(2023JS-07);2023年度江苏高校哲学社会科学研究一般项目(2023SJYB0826);2023年度南京机电职业技术学院种子基金项目(LD202301)。

摘　　要：高精度步进电机机械驱动系统的非线性特性会影响系统的状态特征,导致正常运行状态不明确。为此,提出高精度步进电机伺服系统自抗扰控制方法。对电机伺服系统展开结构分析,以此为基础确定系统电压、负载转矩等相关参数。开展步进电机伺服系统动力学分析,确定系统当前状态,设计复合自抗扰控制器,包括跟踪控制器、扩张状态观测器和非线性组合控制律3个部分。将伺服系统输入信号输入设计好的控制器中,完成复合自抗扰控制。实验结果表明:使用所提方法开展伺服系统复合自抗扰控制时,控制精度、稳定性和效率均较高,控制效果较好。The nonlinear characteristics of high precision stepping electrical appliance drive system will affect the state characteristics of the system,leading to the uncertainty of the normal operation state,for which the active disturbance rejection control method of high-precision stepping motor servo system is proposed.Structural analysis is conducted on the motor servo system,based on which the relevant parameters such as system voltage and load torque are determined.Dynamic analysis of stepper motor servo system is carried out to define the current state of the system.A compound ADRC including tracking controller,extended state observer and nonlinear combined control law is designed.The input signal of the servo system is input into the designed controller to complete the composite active disturbance rejection control.The experimental results show that when using the proposed method to carry out composite active disturbance rejection control for servo systems,the control accuracy,stability,and efficiency are high with good control effect.

关 键 词：高精度步进电机 机械驱动伺服系统 复合自抗扰控制 扩张状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]