摘要
针对装片机运动控制平台控制速度和精度低以及抗干扰能力弱等问题,设计了一种基于滑模控制和高阶线性自抗扰控制的复合控制器(HLADSMC),以提高平台系统的控制性能。首先,通过正弦扫频实验获取系统的开环传递函数;其次,构建了高阶线性自抗扰控制器(HLADRC),并采用高阶线性扩张状态观测器(HLESO)估算及补偿内部和外部的扰动。为了克服高阶线性自抗扰控制在轨迹跟踪上的限制,引入了滑模控制器,以解决相位滞后问题并提升跟踪精度;最后,通过仿真和实验数据验证了复合控制器的有效性。结果表明,相对于经典的PID控制和单独的高阶线性自抗扰控制,该复合控制器在跟踪正弦波信号时显著降低了最大跟踪误差,分别减少40.6%和8.1%,并将实际工况下的整定时间缩短了,满足了运动控制平台实际工程运用的需求。
A composite controller(HLADSMC)based on sliding mode control and high order linear active disturbance rejection control(HLADSMC)was designed to improve the control performance of the motion control platform.First,the open loop transfer function of the system is obtained by sinusoidal sweep experiment.Secondly,a high-order linear active disturbance rejection controller(HLADRC)is constructed,and a high-order linear extended state observer(HLESO)is used to estimate and compensate the internal and external disturbances.To overcome the limitation of high order linear active disturbance rejection control in trajectory tracking,a sliding mode controller is introduced to solve the phase lag problem and improve the tracking accuracy.Finally,the effectiveness of the composite controller is verified by simulation and experiment.The results show that compared with the classical PID control and the single high order linear active disturbance rejection control,the composite controller significantly reduces the maximum tracking error when tracking the sine wave signal,reducing 40.6%and 8.1%respectively,and shortens the setting time under actual conditions,meeting the needs of the practical engineering application of the motion control platform.
作者
张翔
花国祥
梁伟明
钱承山
陈怀荣
朱友为
ZHANG Xiang;HUA Guoxiang;LIANG Weiming;QIAN Chengshan;CHEN Huairong;ZHU Youwei(School of Automation,Nanjing University of Information Science&Technology,Nanjing 210044,China;College of Automation,Wuxi University,Wuxi 214000,China;不详)
出处
《组合机床与自动化加工技术》
北大核心
2025年第5期140-144,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
江苏省基础研究计划自然科学基金-青年基金项目(BK20230173)。
关键词
装片机
运动控制平台
高阶自抗扰控制
滑模控制
chip loading machine
motion control platform
high order active disturbance rejection control
sliding mode control
