CN205427466U - Accurate locus tracking device of linear electric motor - Google Patents

Abstract

The utility model discloses an accurate locus tracking device of linear electric motor, including fractional order active disturbance rejection controller, first poor circuit, current controller, power driver amplifier, current sensor and the displacement sensor of asking, fractional order active disturbance rejection controller includes that acceleration feedforward circuit, second ask poor circuit, third to ask poor circuit, fractional order controller, summing circuit and extended state observer. The utility model discloses introducing acceleration feedforward circuit and fractional order controller on the basis of ordinary active disturbance rejection controller, forming fractional order active disturbance rejection controller, compare with ordinary active disturbance rejection controller, effective restraint system nonlinear factors of fractional order active disturbance rejection controller ability and uncertain interference realize the accurate locus tracking control performance of linear electric motor to system performance's influence.

Description

Linear electric motors precision track tracing device

Technical field

This utility model relates to a kind of linear electric motors precision track tracing device, is specifically related to a kind of linear electric motors precision track tracing device based on fractional order automatic disturbance rejection controller, belongs to linear electric motors movement control technology field.

Background technology

Linear electric motors are compared with tradition electric rotating machine, eliminate intermediate transmission link, there is simple in construction, respond fast, precision and efficiency advantages of higher, it is advantageously implemented high speed or low speed, the most contour performance linear motion, is with a wide range of applications in fields such as modern industry, civilian, medical, traffic and military affairs.

But also just because of the cushioning effect lacking intermediate transmission link, linear electric motors are affected more susceptible to factors such as system parameter variations, frictional force and load disturbance power, especially mission nonlinear factor and uncertain noises, to the difficulty that the accurate Trajectory Tracking Control increase of linear electric motors is the biggest.

In recent years, increasing advanced control algorithm is introduced in the motor control research of linear electric motors, obtain good control performance, such as iterative learning control, adaptive robust control and Active Disturbance Rejection Control etc., wherein Active Disturbance Rejection Control is practical with it, robustness good and is independent of the advantages such as accurate system model causes the attention of more and more research worker.But in prior art, it is strong that the sharpest edges of common automatic disturbance rejection controller are only to resist system disturbance ability, and Trajectory Tracking Control precision is the highest, it is impossible to preferably realizes linear electric motors precision Trajectory Tracking Control.

Utility model content

In order to solve above-mentioned technical problem, this utility model provides a kind of linear electric motors precision track tracing device.

In order to achieve the above object, this utility model be the technical scheme is that

Linear electric motors precision track tracing device, including fractional order automatic disturbance rejection controller, the first subtractor circuit, current controller, power driving amplifier, current sensor and displacement transducer；The input that input is described device of described fractional order automatic disturbance rejection controller, the outfan of described fractional order automatic disturbance rejection controller and the input of the first subtractor circuit connect, the described outfan of the first subtractor circuit is connected with the input of current controller, the outfan of described current controller is connected with the input of power driving amplifier, the external linear electric motors of outfan of described power driving amplifier, the input of described current sensor is connected with the outfan of power driving amplifier, the outfan of described current sensor and the input of the first subtractor circuit connect, the external linear electric motors of input of institute's displacement sensors, the outfan of institute's displacement sensors is connected with the input of fractional order automatic disturbance rejection controller.

Described fractional order automatic disturbance rejection controller includes feed forward of acceleration circuit, the second subtractor circuit, the 3rd subtractor circuit, fractional order control device, summing circuit and extended state observer；nullThe input of described second subtractor circuit is the input of described fractional order automatic disturbance rejection controller，The outfan of described second subtractor circuit is connected with the input of fractional order control device，The described outfan of fractional order control device is connected with the input of summing circuit，The outfan of described summing circuit is the outfan of described fractional order automatic disturbance rejection controller，The input of described feed forward of acceleration circuit and the input of the second subtractor circuit connect，The outfan of described feed forward of acceleration circuit and the input of the 3rd subtractor circuit connect，The outfan of described 3rd subtractor circuit is connected with the input of summing circuit，The input of described extended state observer is connected with the outfan of summing circuit and the outfan of displacement transducer respectively，The outfan of described extended state observer and the input of the 3rd subtractor circuit connect，The input of described second subtractor circuit is also connected with the outfan of displacement transducer.

The beneficial effect that this utility model is reached: this utility model introduces feed forward of acceleration circuit and fractional order control device on the basis of common automatic disturbance rejection controller, form fractional order automatic disturbance rejection controller, compared with common automatic disturbance rejection controller, fractional order automatic disturbance rejection controller can effectively suppression system non-linear factor and the uncertain noises impact on systematic function, it is achieved linear electric motors precision Trajectory Tracking Control performance.

Accompanying drawing explanation

Fig. 1 is structured flowchart of the present utility model.

Fig. 2 is different sinusoidal trajectory tracking error comparison diagrams in this utility model.

Fig. 3 is the rejection ability comparison diagram in this utility model to systematic parameter perturbation.

Fig. 4 is the rejection ability comparison diagram in this utility model to external disturbance.

Detailed description of the invention

Below in conjunction with the accompanying drawings this utility model is further described.Following example are only used for clearly illustrating the technical solution of the utility model, and can not limit protection domain of the present utility model with this.

As it is shown in figure 1, linear electric motors precision track tracing device, including fractional order automatic disturbance rejection controller, the first subtractor circuit, current controller, power driving amplifier, current sensor and displacement transducer.

The input of fractional order automatic disturbance rejection controller is the input of described device, the outfan of fractional order automatic disturbance rejection controller and the input of the first subtractor circuit connect, the outfan of the first subtractor circuit is connected with the input of current controller, the outfan of current controller is connected with the input of power driving amplifier, the external linear electric motors of outfan of power driving amplifier, the input of current sensor is connected with the outfan of power driving amplifier, the outfan of current sensor and the input of the first subtractor circuit connect, the external linear electric motors of input of displacement transducer, the outfan of displacement transducer is connected with the input of fractional order automatic disturbance rejection controller.

Fractional order automatic disturbance rejection controller includes feed forward of acceleration circuit, the second subtractor circuit, the 3rd subtractor circuit, fractional order control device, summing circuit and extended state observer.

The input of the second subtractor circuit is the input of described fractional order automatic disturbance rejection controller, the outfan of the second subtractor circuit is connected with the input of fractional order control device, the outfan of fractional order control device is connected with the input of summing circuit, the outfan of summing circuit is the outfan of described fractional order automatic disturbance rejection controller, the input of feed forward of acceleration circuit and the input of the second subtractor circuit connect, the outfan of feed forward of acceleration circuit and the input of the 3rd subtractor circuit connect, the outfan of the 3rd subtractor circuit is connected with the input of summing circuit, the input of extended state observer is connected with the outfan of summing circuit and the outfan of displacement transducer respectively, the outfan of extended state observer and the input of the 3rd subtractor circuit connect, the input of the second subtractor circuit is also connected with the outfan of displacement transducer.

The tracking of linear electric motors precision track tracing device, comprises the following steps:

Step 1, current sensor gathers the actual mover electric current i of linear electric motors.

Step 2, displacement transducer gathers the actual motion displacement x of linear electric motors.

Step 3, fractional order automatic disturbance rejection controller receives the target trajectory x of tracked linear electric motors_dWith actual motion displacement x, controlled quentity controlled variable u in the middle of output₁。

Processing procedure in fractional order automatic disturbance rejection controller is,

A1) feed forward of acceleration circuit receives the target trajectory x of tracked linear electric motors_dAnd process；

The process formula of feed forward of acceleration circuit is,

${\stackrel{\·\·}{x}}_d=d^2{x}_d/{\mathrm{dt}}^2$

Wherein,For x_dSecond dervative, i.e. the output of feed forward of acceleration circuit, d is differential operator, and t is the time；

A2) extended state observer calculates estimated value z of system summation disturbance₃；

Specific formula for calculation is,

$\left\{\begin{array}{c}{e}_0=z_1-x\\ {\stackrel{\·}{z}}_1=z_2-{\mathrm{\β}}_{01}\·e_0\\ {\stackrel{\·}{z}}_2=z_3-{\mathrm{\β}}_{02}\·fal(e_0,0.5,\mathrm{\δ})+b\·u_1\\ {\stackrel{\·}{z}}_3=-{\mathrm{\β}}_{03}\·fal(e_0,0.25,\mathrm{\δ})\end{array}\right.$

Wherein, z₁For the estimated value of linear electric motors actual motion displacement, z₂For the estimated value of linear electric motors actual motion speed, e₀For z₁And the error between x, b is controlled quentity controlled variable gain, β₀₁、β₀₂、β₀₃For extended state observer gain, fal (e₀, 0.25, δ) and it is nonlinear function, δ is fal (e₀, 0.25, δ) in the siding-to-siding block length of linearity range；

fal(e₀, 0.25, δ) concrete formula be,

$fal(e_0,0.25,\mathrm{\δ})=\left\{\begin{array}{cc}{e}_0.{\mathrm{\δ}}^{\mathrm{\α}-1},& \left|e_0\right|\≤\mathrm{\δ}\\ |e_0{|}^{\mathrm{\α}}\·\mathrm{sgn}\left(e_0\right),& \left|e_0\right|>\mathrm{\δ}\end{array}\right.$

Wherein, α is power exponent, and sgn () is sign function；

A3) fractional order control device carries out fractional order control output；

Specific formula for calculation is,

u₀₁=K_p(1+K_ds^μ)·e₁

Wherein, u₀₁For the output of fractional order control device, K_p、K_dFor fractional order control device parameter, s is Laplace operator, μ be value be the real number between 0 to 1, e₁For x_dAnd the error between x, the output of the i.e. second subtractor circuit, also it is the input of fractional order control device；

A4) the 3rd subtractor circuit receives the output of feed forward of acceleration circuitCalculate output controlled quentity controlled variable u₀₂, summing circuit is according to u₀₁And u₀₂Calculate middle controlled quentity controlled variable u₁；

Computing formula is,

$u_{02}=({\stackrel{\·\·}{x}}_d-z_3)/b$

u₁=u₀₁+u₀₂。

Step 4, the first subtractor circuit receives middle controlled quentity controlled variable u₁With actual mover electric current i, by centre controlled quentity controlled variable u₁With actual mover electric current i relatively after error amount e be sent to current controller process, current controller output virtual voltage controlled quentity controlled variable u.

Process formula in current controller is,

U=K_pi·e

Wherein, e is u₁And the error between i, K_piFor current controller parameter.

Step 5, power driving amplifier receives virtual voltage controlled quentity controlled variable u, controls the operation of linear electric motors.

Concrete data flow is: current sensor is for gathering the actual mover electric current i of linear electric motors, and transmit to the first subtractor circuit, displacement transducer is for gathering the actual motion displacement x of linear electric motors, and transmit to fractional order automatic disturbance rejection controller, extended state observer utilizes middle controlled quentity controlled variable u that the actual motion displacement x of linear electric motors and a upper sampling instant calculate₁Calculate three state variables, respectively estimated value z of linear electric motors actual motion displacement₁, estimated value z of linear electric motors actual motion speed₂Estimated value z with system summation disturbance₃, wherein z₃Transmission is to the 3rd subtractor circuit, and feed forward of acceleration circuit is to target trajectory x_dAfter carrying out second differential, obtain target trajectory x_dSecond dervativeAnd transmit to the 3rd subtractor circuit, the second subtractor circuit is by target trajectory x_dCompare with linear electric motors actual motion displacement x and make after the recovery, obtain difference e₁, and transmit to fractional order control device, fractional order control device is by difference e₁It is controlled calculating, draws u₀₁, and transmit to summing circuit, the 3rd subtractor circuit is by target trajectory x_dSecond dervativeEstimated value z with system summation disturbance₃Compare calculating, draw u₀₂, and transmit to summing circuit, summing circuit is by u₀₁And u₀₂After carrying out read group total, draw middle controlled quentity controlled variable u₁, and transmit to the first subtractor circuit, the first subtractor circuit is by centre controlled quentity controlled variable u₁Compare with the actual mover electric current i of linear electric motors and calculate error amount e, and transmit to current controller, current controller draws actual controlled quentity controlled variable u after being controlled e calculating, and transmit to power driving amplifier, power driving amplifier produces corresponding voltage signal, thus controls described linear electric motors and run.

In order to further illustrate, carry out contrast test.

As in figure 2 it is shown, target trajectory is respectively sinusoidal trajectory S1:x_d=25sin (4t-0.5 π)+25 (mm) and sinusoidal trajectory S2:x_dDuring=50sin (9t-0.5 π)+50 (mm), the track following error comparison diagram of two kinds of controllers, both controllers are respectively common Active Disturbance Rejection Control and fractional order Active Disturbance Rejection Control.It can be seen that the tracking error of fractional order automatic disturbance rejection controller is little, control accuracy is high, it is achieved the accurate Trajectory Tracking Control of linear electric motors.

The sinusoidal trajectory tracking error comparison diagram of lower two kinds of controllers as it is shown on figure 3, systematic parameter perturbs, systematic parameter (i.e. the quality of motion parts) is become 15kg from 0.25kg here.It can be seen that fractional order automatic disturbance rejection controller has stronger rejection ability to systematic parameter perturbation.

Shown in Fig. 4, the sinusoidal trajectory tracking error comparison diagram of two kinds of controllers under outside perturbation action, between 0.4 1.1 seconds, the active force of 15N, the external disturbance effect of simulation sudden change is applied here to system.It can be seen that track tracing device based on fractional order automatic disturbance rejection controller has the strongest rejection ability equally to external disturbance.

In sum, this utility model introduces feed forward of acceleration circuit and fractional order control device on the basis of common automatic disturbance rejection controller, form fractional order automatic disturbance rejection controller, compared with common automatic disturbance rejection controller, fractional order automatic disturbance rejection controller can effectively suppression system non-linear factor and the uncertain noises impact on systematic function, it is achieved linear electric motors precision Trajectory Tracking Control performance.

The above is only preferred implementation of the present utility model; should be understood that; for those skilled in the art; on the premise of without departing from this utility model know-why; can also make some improvement and deformation, these improve and deformation also should be regarded as protection domain of the present utility model.

Claims (2)

1. linear electric motors precision track tracing device, it is characterised in that: include fractional order automatic disturbance rejection controller, the first subtractor circuit, current controller, power driving amplifier, current sensor and displacement transducer；

The input that input is described device of described fractional order automatic disturbance rejection controller, the outfan of described fractional order automatic disturbance rejection controller and the input of the first subtractor circuit connect, the described outfan of the first subtractor circuit is connected with the input of current controller, the outfan of described current controller is connected with the input of power driving amplifier, the external linear electric motors of outfan of described power driving amplifier, the input of described current sensor is connected with the outfan of power driving amplifier, the outfan of described current sensor and the input of the first subtractor circuit connect, the external linear electric motors of input of institute's displacement sensors, the outfan of institute's displacement sensors is connected with the input of fractional order automatic disturbance rejection controller.

Linear electric motors precision track tracing device the most according to claim 1, it is characterised in that: described fractional order automatic disturbance rejection controller includes feed forward of acceleration circuit, the second subtractor circuit, the 3rd subtractor circuit, fractional order control device, summing circuit and extended state observer；

nullThe input of described second subtractor circuit is the input of described fractional order automatic disturbance rejection controller，The outfan of described second subtractor circuit is connected with the input of fractional order control device，The described outfan of fractional order control device is connected with the input of summing circuit，The outfan of described summing circuit is the outfan of described fractional order automatic disturbance rejection controller，The input of described feed forward of acceleration circuit and the input of the second subtractor circuit connect，The outfan of described feed forward of acceleration circuit and the input of the 3rd subtractor circuit connect，The outfan of described 3rd subtractor circuit is connected with the input of summing circuit，The input of described extended state observer is connected with the outfan of summing circuit and the outfan of displacement transducer respectively，The outfan of described extended state observer and the input of the 3rd subtractor circuit connect，The input of described second subtractor circuit is also connected with the outfan of displacement transducer.