Abstract
To enhance the control accuracy of permanent magnet synchronous linear motor (PMSLM) servo systems affected by disturbances, such as time-varying parameters and abrupt load changes, an active disturbance rejection control (ADRC) algorithm based on a reduced-order extended state observer (ESO) is adopted to suppress the disturbances on the control system. First, the system's ability to estimate disturbances is enhanced by linearizing the ESO. Second, the pole placement method is used for the construction of a reduced-order ESO that can reduce the influence of the number of adjustment parameters and the phase lag. The parameters of the reduced-order ADRC are adjusted, the optimal control parameters are selected, and the stability of controller is proved. Finally, practical experiments prove that the proposed method can improve control accuracy under multiple working conditions and features strong anti-interference ability. There is a smaller steady-state error, and no overshoot is observed.
Highlights
Conventional servo systems mostly adopt the drive method of “roller screw + rotary motor” or “gear rack + rotary motor.” Transmission accuracy is restricted by return error and mechanical deformation, which limit the control precision of servo systems
Eq (5) shows that the relationship between q-axis current and speed can be approximated by a first-order differential equation, whereas the additional disturbance of the current tracking error exists in the first-order active disturbance rejection control (ADRC) of speed, which seriously affects the control accuracy of the servo system[17]
ADRC is based on the development of conventional proportion integral derivative (PID) control, which retains the advantages of PID control and overcomes its shortcomings
Summary
Conventional servo systems mostly adopt the drive method of “roller screw + rotary motor” or “gear rack + rotary motor.” Transmission accuracy is restricted by return error and mechanical deformation, which limit the control precision of servo systems. Typical control strategies such as model predictive control, conventional proportion integral derivative (PID) control, sliding mode control, and fuzzy control are used to reject disturbances These control strategies have certain levels of antiinterference ability. Ming Li et al.: Active Disturbance Rejection Position Servo Control of PMSLM Based on Reduced-order Extended State Observer its fuzzy processing can affect control accuracy and reduce dynamic quality[6]. [14], a simplified noise reduction disturbance observer based on ADRC is presented to handle system nonlinearities, parameter uncertainties, and disturbances This method can reduce sensor noise while ensuring that the filtered sensor information retains disturbance information as much as possible. This paper takes the PMSLM servo system as the research object It introduces a linear ADRC strategy based on the reduced-order extended state observer (ESO) to achieve disturbance suppression. The effectiveness and accuracy of the proposed method are demonstrated experimentally by comparing it with the methods proposed in Ref. [12] and Ref. [14], ADRC-NRDOB and ADRC-APSO, respectively
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