摘要
针对直线执行器的高速、高精度及行程模块化要求,在分析了自行研制的电磁直线执行器(EMLA)结构特点的基础上,提出了一种电流换相技术方案。推导出了EMLA的状态空间模型。采用自抗扰控制器进行电流换相控制,抑制系统运行过程中参数的不确定性以及摩擦等外部扰动。利用LuGre摩擦力模型进行仿真研究并和经典比例积分微分控制算法进行了对比。仿真和实验结果表明,该电流换相技术方案不影响运动平顺性,最大速度达3.1 m/s,验证了其有效性。
To achieve modular stroke,high speed and high accuracy linear motion requirements of actuator,a current commutation technology scheme based on the analysis of structural features of the self-developed electromagnetic linear actuator（EMLA）is presented.A state-space model of EMLA is presented.The external disturbances acting on the motion system such as parameter uncertainties and frictions are reduced by current commutation control of active disturbance rejection controller.The LuGre friction model is used for simulation and comparison with conventional PID controller.Simulation and experimental results indicate that the current commutation scheme doesn ＇ t influence the motion smoothness and the maximal speed is 3.1 m/s,which verifies its effectiveness.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2011年第6期805-810,共6页
Journal of Nanjing University of Science and Technology
基金
国家'863'计划资助项目(2006AA05Z236)
江苏省科技支撑计划(BE2008133)
关键词
电磁直线执行器
电流换相
自抗扰控制
electromagnetic linear actuators
current commutation
active disturbance rejection control
