CN204086851U - Based on the linear electric motors track tracing device of modified automatic disturbance rejection controller - Google Patents
Based on the linear electric motors track tracing device of modified automatic disturbance rejection controller Download PDFInfo
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- CN204086851U CN204086851U CN201420483128.3U CN201420483128U CN204086851U CN 204086851 U CN204086851 U CN 204086851U CN 201420483128 U CN201420483128 U CN 201420483128U CN 204086851 U CN204086851 U CN 204086851U
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Abstract
The utility model discloses a kind of linear electric motors Trajectory Tracking Control device based on modified automatic disturbance rejection controller, it is characterized in that, comprise current sensor, displacement transducer, the first comparison module, current controller, pulse-width modulator, power inverter, linear electric motors and modified automatic disturbance rejection controller, described modified automatic disturbance rejection controller comprises first differential device, second-order differential device, the second comparison module, the 3rd comparison module, proportional plus derivative controller, extended state observer and summation module.The beneficial effect that the utility model reaches: improved by conventional automatic disturbance rejection controller, adds the second derivative of target trajectory, and the controlled quentity controlled variable of itself and proportional plus derivative controller is combined, and is formed and exports new middle controlled quentity controlled variable by summation module; Modified automatic disturbance rejection controller not only restrained effectively systematic parameter perturbation and external disturbance on the impact of system performance, effectively can also improve the tracking accuracy of linear electric motors, tracking error is little.
Description
Technical field
The utility model relates to a kind of linear electric motors Trajectory Tracking Control device based on modified automatic disturbance rejection controller, belongs to linear electric motors movement control technology field.
Background technology
Linear electric motors have that structure is simple, response is fast, precision and the outstanding advantages such as efficiency is high, are with a wide range of applications in fields such as modern industry, civilian, medical, traffic and military affairs.
Because linear electric motors eliminate intermediate transmission link, be therefore conducive to realizing at a high speed or low speed, high-precision rectilinear motion.But also just because of the buffer action lacking intermediate transmission link, linear electric motors are more easily subject to the impact of the disturbing factors such as system parameter variations, friction force and load disturbance power, control to bring very large difficulty to the orbit tracking movement of linear electric motors.
For obtaining good exercise performance, increasing Advanced Control Strategies is introduced in the control research of linear electric motors, as adaptive robust control, repetitive study control and Active Disturbance Rejection Control etc., wherein Active Disturbance Rejection Control strong with its interference rejection ability, realize simply and not relying on the attention that the advantages such as accurate mathematical model are subject to researchist, but in prior art, the impact of automatically resisting disturbance is focused on due to conventional automatic disturbance rejection controller, and do not comprise the link improving tracking accuracy, therefore conventional automatic disturbance rejection controller tracking accuracy is not high.
Utility model content
Technical problem to be solved in the utility model is to provide one can under there is Parameter Perturbation, external disturbance situation in linear motor control system, realize the high precision Trajectory Tracking Control to linear electric motors, and overcome the linear electric motors Trajectory Tracking Control device and method based on modified automatic disturbance rejection controller of the not high problem of conventional automatic disturbance rejection controller tracking accuracy.
The utility model adopts following technical scheme to solve the problems of the technologies described above:
Based on the linear electric motors track tracing device of modified automatic disturbance rejection controller, comprise modified automatic disturbance rejection controller, the first comparison module, current controller, pulse-width modulator, power inverter, linear electric motors, current sensor, displacement transducer.
Modified automatic disturbance rejection controller, the first comparison module, current controller, pulse-width modulator, power inverter, linear electric motors, displacement transducer are linked in sequence successively, displacement transducer is connected with modified automatic disturbance rejection controller, and the first comparison module is connected with power inverter by current sensor.
Modified automatic disturbance rejection controller comprises first differential device, second-order differential device, the second comparison module, the 3rd comparison module, proportional plus derivative controller, extended state observer and summation module; Second-order differential device, the 3rd comparison module, summation module, extended state observer, the second comparison module, proportional plus derivative controller are linked in sequence successively, proportional plus derivative controller is connected with summation module, extended state observer is connected with the 3rd comparison module, first differential device is connected with the second comparison module, and the trajectory signal of linear electric motors is sent to first differential device and second-order differential device simultaneously.
Extended state observer comprises three signal output parts, proportional plus derivative controller comprises two signal input parts, second comparison module comprises four input ends and two output terminals, and four input ends of the second comparison module receive wherein two output signals (estimated value of linear electric motors actual motion displacement that extended state observer exports and the estimated value of linear electric motors actual motion speed) of the target trajectory of tracked linear electric motors, the output signal of first differential device and extended state observer respectively.
Two output terminals of the second comparison module are connected with two signal input parts of proportional plus derivative controller respectively; The input end of first differential device, second-order differential device is for receiving the target trajectory of linear electric motors.
The beneficial effect that the utility model reaches: the utility model devises a kind of linear electric motors Trajectory Tracking Control device based on modified automatic disturbance rejection controller, on the basis of conventional automatic disturbance rejection controller, add the second-order differential device (being also aimed acceleration signal) of target trajectory, and the controlled quentity controlled variable of second-order differential device output quantity and proportional plus derivative controller is combined, new middle controlled quentity controlled variable is formed by summation module, compared with conventional automatic disturbance rejection controller, modified automatic disturbance rejection controller not only suppresses systematic parameter perturbation and external disturbance on the impact of control system performance effectively, greatly can also improve the tracking accuracy of linear electric motors.
Accompanying drawing explanation
Fig. 1 is structured flowchart of the present utility model;
Fig. 2 is sinusoidal trajectory tracking error comparison diagram in the utility model;
Fig. 3 is the rejection ability comparison diagram to systematic parameter perturbation in the utility model;
Fig. 4 is the rejection ability comparison diagram to external disturbance in the utility model;
Fig. 5 is to the estimation of summation disturbance and Error Graph thereof in the utility model.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further described.
As shown in Figure 1, based on the linear electric motors track tracing device of modified automatic disturbance rejection controller, comprise modified automatic disturbance rejection controller, the first comparison module, current controller, pulse-width modulator, power inverter, linear electric motors, current sensor, displacement transducer.
Described modified automatic disturbance rejection controller, the first comparison module, current controller, pulse-width modulator, power inverter, linear electric motors, displacement transducer are linked in sequence successively, institute's displacement sensors is connected with modified automatic disturbance rejection controller, and described first comparison module is connected with power inverter by current sensor.
Described modified automatic disturbance rejection controller comprises first differential device, second-order differential device, the second comparison module, the 3rd comparison module, proportional plus derivative controller, extended state observer and summation module; Described second-order differential device, the 3rd comparison module, summation module, extended state observer, the second comparison module, proportional plus derivative controller are linked in sequence successively, described proportional plus derivative controller is connected with described summation module, described extended state observer is connected with described 3rd comparison module, described first differential device is connected with described second comparison module, and the trajectory signal of described linear electric motors is sent to described first differential device and second-order differential device simultaneously.
Extended state observer comprises three signal output parts, described proportional plus derivative controller comprises two signal input parts, described second comparison module comprises four input ends and two output terminals, and four input ends of described second comparison module receive two output signals of the target trajectory of tracked linear electric motors, the output signal of first differential device and extended state observer respectively.
Two output terminals of the second comparison module are connected with two signal input parts of described proportional plus derivative controller respectively; The input end of described first differential device, second-order differential device is for receiving the target trajectory of linear electric motors.
First differential device is provided with input end and output terminal.
Second-order differential device is provided with input end and output terminal.
Second comparison module is provided with first input end, the second input end, the 3rd input end, four-input terminal, the first output terminal and the second output terminal.
3rd comparison module is provided with first input end, the second input end and output terminal.
Proportional plus derivative controller is provided with first input end, the second input end and output terminal.
Extended state observer is provided with first input end, the second input end, the first output terminal, the second output terminal and the 3rd output terminal.
Summation module is provided with first input end, the second input end and output terminal.
Current sensor is provided with input end and output terminal.
Displacement transducer is provided with input end and output terminal.
First comparison module is provided with first input end, the second input end and output terminal.
Current controller is provided with input end and output terminal.
Pulse-width modulator is provided with input end and output terminal.
Power inverter is provided with input end and output terminal.
Linear electric motors are provided with input end and output terminal;
As shown in Figure 1, inner annexation of the present utility model is as follows:
The input end of first differential device and target trajectory x
dbe connected.
The output terminal of first differential device is connected with the second input end of the second comparison module.
The input end of second-order differential device and target trajectory x
dbe connected.
The output terminal of second-order differential device is connected with the first input end of the 3rd comparison module.
The first input end of the second comparison module and target trajectory x
dbe connected.
3rd input end of the second comparison module is connected with the first output terminal of extended state observer.
The four-input terminal of the second comparison module is connected with the second output terminal of extended state observer.
First output terminal of the second comparison module is connected with the first input end of proportional plus derivative controller.
Second output terminal of the second comparison module is connected with the second input end of proportional plus derivative controller.
The output terminal of proportional plus derivative controller is connected with the first input end of summation module.
Second input end of the 3rd comparison module is connected with the 3rd output terminal of extended state observer.
The output terminal of the 3rd comparison module is connected with the second input end of summation module.
The first input end of extended state observer is connected with the output terminal of summation module.
Second input end of extended state observer is connected with the output terminal of displacement transducer.
The output terminal of summation module is connected with the first input end of the first comparison module.
Second input end of the first comparison module is connected with the output terminal of current sensor.
The output terminal of the first comparison module is connected with the input end of current controller.
The output terminal of current controller is connected with the input end of pulse-width modulator.
The output terminal of pulse-width modulator is connected with the input end of power inverter.
The output terminal of power inverter is connected with the input end of current sensor.
The input end of linear electric motors is connected with the output terminal of power inverter.
The output terminal of linear electric motors is connected with the input end of displacement transducer.
The working control amount u that pulse-width modulator utilizes current controller to export produces corresponding PWM (Pulse Width Modulation, pulse-length modulation) signal, and transfers to power inverter;
Power inverter utilizes pwm signal to produce corresponding voltage signal, thus controls the operation of described linear electric motors.
Fig. 1 reflection be linear electric motors Trajectory Tracking Control System block diagram based on modified automatic disturbance rejection controller.
What Fig. 2 reflected is when target trajectory is sinusoidal trajectory x
dtime=25sin (4t-0.5 π)+25 (mm), the track following error comparison diagram of three kinds of controllers, these three kinds of controllers are respectively proportion integration differentiation feedforward control, conventional Active Disturbance Rejection Control and modified Active Disturbance Rejection Control.As can be seen from the figure, the tracking error of modified Active Disturbance Rejection Control is minimum, and control accuracy is the highest, and maximum tracking error is less than 1 μm.
Fig. 3 reflection be the sinusoidal trajectory tracking error comparison diagram of three kinds of controllers under systematic parameter perturbation, systematic parameter (i.e. the quality of motion parts) becomes 10kg from 0.25kg here.As can be seen from the figure, the tracking error of modified Active Disturbance Rejection Control is minimum, and control accuracy is the highest, describes modified automatic disturbance rejection controller effectively and has stronger rejection ability to systematic parameter perturbation.
Fig. 4 reflection be the sinusoidal trajectory tracking error comparison diagram of three kinds of controllers under outside perturbation action, between 0.4 – 1.1 seconds, apply the acting force of 10N here to system, the external disturbance effect of simulation sudden change.As can be seen from the figure, the tracking error of modified Active Disturbance Rejection Control is still minimum, and control accuracy is the highest, illustrates that the orbit tracking movement control system based on modified automatic disturbance rejection controller has very strong rejection ability equally to external disturbance.
What Fig. 5 reflected is the estimation effect of extended state observer to the disturbance of system summation.As can be seen from the figure, extended state observer is very little to the error between the estimated value of summation disturbance and actual value, can observe preferably and the effect estimating summation disturbance just because of extended state observer, therefore the linear electric motors orbit tracking movement control system based on modified automatic disturbance rejection controller has extremely strong Disturbance Rejection ability, thus is more conducive to the realization of high precision track following.
Below be only preferred implementation of the present utility model; be noted that for those skilled in the art; under the prerequisite not departing from the utility model principle, can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (3)
1. based on the linear electric motors track tracing device of modified automatic disturbance rejection controller, it is characterized in that, comprise modified automatic disturbance rejection controller, the first comparison module, current controller, pulse-width modulator, power inverter, linear electric motors, current sensor, displacement transducer;
Described modified automatic disturbance rejection controller, the first comparison module, current controller, pulse-width modulator, power inverter, linear electric motors, displacement transducer are linked in sequence successively, institute's displacement sensors is connected with modified automatic disturbance rejection controller, and described first comparison module is connected with power inverter by current sensor;
Described modified automatic disturbance rejection controller comprises first differential device, second-order differential device, the second comparison module, the 3rd comparison module, proportional plus derivative controller, extended state observer and summation module; Described second-order differential device, the 3rd comparison module, summation module, extended state observer, the second comparison module, proportional plus derivative controller are linked in sequence successively, described proportional plus derivative controller is connected with described summation module, described extended state observer is connected with described 3rd comparison module, described first differential device is connected with described second comparison module, and the trajectory signal of described linear electric motors is sent to described first differential device and second-order differential device simultaneously.
2. the linear electric motors track tracing device based on modified automatic disturbance rejection controller according to claim 1, it is characterized in that, described extended state observer comprises three signal output parts, described proportional plus derivative controller comprises two signal input parts, and described second comparison module comprises four input ends and two output terminals.
3. the linear electric motors track tracing device based on modified automatic disturbance rejection controller according to claim 1, is characterized in that, two output terminals of described second comparison module are connected with two signal input parts of described proportional plus derivative controller respectively; The input end of described first differential device, second-order differential device is for receiving the target trajectory of linear electric motors.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105553377A (en) * | 2016-02-29 | 2016-05-04 | 南京工程学院 | Point-to-point positioning device and method for linear motor |
| CN106814628A (en) * | 2017-04-06 | 2017-06-09 | 南京工程学院 | Linear electric motors point position control device and method based on fractional order control device |
| CN112345083A (en) * | 2020-11-05 | 2021-02-09 | 南京工程学院 | High-temperature superconducting terahertz radiation source intelligent testing device based on different bias conditions |
| CN113300676A (en) * | 2021-05-26 | 2021-08-24 | 广东电网有限责任公司 | System and method for automatically tracking noise power gain of actual differentiator |
-
2014
- 2014-08-25 CN CN201420483128.3U patent/CN204086851U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105553377A (en) * | 2016-02-29 | 2016-05-04 | 南京工程学院 | Point-to-point positioning device and method for linear motor |
| CN106814628A (en) * | 2017-04-06 | 2017-06-09 | 南京工程学院 | Linear electric motors point position control device and method based on fractional order control device |
| CN112345083A (en) * | 2020-11-05 | 2021-02-09 | 南京工程学院 | High-temperature superconducting terahertz radiation source intelligent testing device based on different bias conditions |
| CN112345083B (en) * | 2020-11-05 | 2021-08-31 | 南京工程学院 | High-temperature superconducting terahertz radiation source intelligent testing device based on different bias conditions |
| CN113300676A (en) * | 2021-05-26 | 2021-08-24 | 广东电网有限责任公司 | System and method for automatically tracking noise power gain of actual differentiator |
| CN113300676B (en) * | 2021-05-26 | 2022-05-10 | 广东电网有限责任公司 | System and method for automatically tracking noise power gain of actual differentiator |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150107 Termination date: 20150825 |
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| EXPY | Termination of patent right or utility model |