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A Fractional Order Active Disturbance Rejection Motion Control Method Based on Adjustable Order Filter

A motion control, motion control system technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of amplifying measurement noise, high gain, control performance impact, etc., achieve flexible parameter adjustment, reduce amplification effect, the effect of improving the filtering effect

Active Publication Date: 2021-05-25
NANJING INST OF TECH
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Problems solved by technology

However, common active disturbance rejection controllers have high gain, and will amplify measurement noise at the same time, which will easily affect the control performance

Method used

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  • A Fractional Order Active Disturbance Rejection Motion Control Method Based on Adjustable Order Filter
  • A Fractional Order Active Disturbance Rejection Motion Control Method Based on Adjustable Order Filter
  • A Fractional Order Active Disturbance Rejection Motion Control Method Based on Adjustable Order Filter

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Embodiment Construction

[0044] The present invention will be further described below. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0045] Such as figure 1 As shown, the fractional order active disturbance rejection motion control method based on the adjustable order filter of the present invention comprises the following steps:

[0046] Step 1. According to Newton's law of motion, a nonlinear dynamic model of the motion control system is established.

[0047] The differential equation of the motion control system is described as follows:

[0048]

[0049] Among them, u is the phase voltage of the motion actuator, that is, the control amount, i is the phase current of the motion actuator; R and L are the phase resistance and phase inductance of the motion actuator respectively; m is the motion mass, x is the motion displacement, that is, the state variable; K m a...

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Abstract

The invention discloses a fractional-order active disturbance rejection motion control method based on an adjustable-order filter, including: establishing a nonlinear dynamic model of the motion control system according to Newton's law of motion; using an adjustable-order filter to measure The noise is filtered; the order of the filter is adjusted to achieve a better filtering effect; the extended state observer is used to improve the disturbance suppression effect of the system; the fractional order proportional differential algorithm is used to design a motion controller to make the output track the reference input. The method of the invention has the advantages of flexible parameter adjustment and easy engineering realization, and effectively improves the suppression ability of the motion control system to measurement noise and interference.

Description

technical field [0001] The invention relates to a fractional-order active disturbance rejection motion control method based on an adjustable-order filter, and belongs to the technical field of motion control. Background technique [0002] Motion control technology is widely used in today's industries, such as motor motion control, CNC machine tools, robot control, etc. Motion control refers to the control of motion quantities such as position / displacement, speed, and acceleration. Compared with other types of motion actuators, electric motors are used as motion actuators, which have the advantages of simple structure, fast response, high precision and efficiency, and are conducive to realizing high-performance motion control such as high-speed or low-speed, high-precision, etc., in modern industry, civil, It has broad application prospects in fields such as medical treatment, transportation and military affairs. [0003] Due to the influence of factors such as friction, sy...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 施昕昕黄家才
Owner NANJING INST OF TECH
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