摘要
为实现精密气浮转台低速精确控制,提高转台定位精度和动态响应性能,提出一种变带宽线性自抗扰控制算法。首先,根据转台及驱动电机的数学模型,建立包含扰动项的控制系统模型。接着,构造线性扩张状态观测器,分析初值误差对观测精度的影响,提出一种观测器带宽调节方法以提升观测精度。然后,根据控制器带宽设计思想,设计加入扰动补偿后的控制律。最后,在精密气浮转台实验平台中对变带宽线性自抗扰控制性能进行了实验验证。结果表明:低速工况下,跟踪误差不大于0.000 8°;位置阶跃响应中,角定位误差不大于0.000 7°,与传统线性自抗扰控制相比,超调量由0.001 7°下降到0.001 4°;在转动惯量和电机电感参数单一失配的情况下,转台仍能保持高定位精度。满足精密气浮转台定位精度高、速度平稳性好、抗扰性强的要求。
This paper proposes a variable-bandwidth linear active disturbance rejection control algorithm to realize the precise low-speed control of a high-precision air flotation turntable and improve its positioning accuracy and dynamic response performance. First,the control system model is established according to the mathematical model of a turntable and driving motor by considering disturbances. Second,a linear extended state observer is constructed to analyze the effect of an initial error on observation accuracy,and an observer bandwidth adjustment method is proposed to enhance the observation accuracy. Subsequently,according to the design concept of controller bandwidth,a control law with disturbance compensation is specified. Finally,the performance of variable-bandwidth linear active disturbance rejection control is verified using the experimental platform of a high-precision air flotation turntable. The experimental results show that the tracking error is less than 0. 0008° under the low-speed condition. The angle positioning error is less than 0. 0007°,and the overshoot is reduced from 0. 0017° to 0. 0014° compared with that of traditional linear active disturbance rejection control. Notably,the turntable can maintain a high positioning accuracy under a single mismatch of the moment of inertia condition and motor inductance parameters. Further,it meets the requirements for a high-precision air flotation turntable in terms of positioning accuracy,speed stability,and disturbance immunity.
作者
王福全
郑鑫
周智勇
段黎明
WANG Fu-quan;ZHENG Xin;ZHOU Zhi-yong;DUAN Li-ming(Engineering Research Center of Industrial Computed Tomography Nondestructive Testing,Ministry of Education,Chongqing University,Chongqing 400044,China;College of Mechanical Engineering,Chongqing University,Chongqing 400044,China)
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2021年第7期1589-1597,共9页
Optics and Precision Engineering
基金
国家科学仪器设备开发专项(No.2013YQ030629)
重庆大学中央高校基本科研业务费专项(No.2019CDXYGD0028)。
关键词
自抗扰控制
气浮转台
变带宽
带宽设计
低速控制
active disturbance rejection control
air flotation turntable
variable bandwidth
bandwidth design
low-speed control
