Active Disturbance Rejection Control System Based On Generalized Error Tracking Of Servo Electric Cylinder

With the development of industrial automation and intelligent manufacturing,the application of electromechanical integration products such as electric cylinders is becoming more and more extensive,and its use as a servo actuator is often the core key to determine system performance.The performance of the servo electric cylinder is determined by its internal permanent magnet synchronous motor(PMSM)drive system,which is also a common feature of other servo devices.Therefore,the research results of this paper will have good generalization.Considering the problem that servo electric cylinders have various undesired factors in the complicated application conditions,this paper studies and designs the PMSM servo control system for electric cylinders,according to the performance requirements of high position accuracy,high dynamic response speed and high disturbance rejection of it.Based on the development status of control theory and control engineering,this paper discusses the application of the auto disturbance rejection control(ADRC)strategy of engineering control algorithm in electric cylinder servo system,and designs a position and speed loop auto disturbance rejection controller based on generalized error tracking.It adjusts and optimizes the structure of the traditional position and speed loop auto disturbance rejection controller to solve the problem that its speed is uncontrollable.Focusing on the whole system,the system is divided into two subsystems,fast and slow time scale,according to the time scale by using the singular perturbation theory.The PI controller is used to construct the inner loop of the fast current loop system,and the steady-state parameters are replaced by the system quasi-steady state parameters.The outer loop controller uses the control quantity tracking error as the key point to design a high gain linear extended state observer for accurate observation of position,velocity and disturbance.In addition,based on the idea of model reference,an ideal target system is established,and the feedback control law is obtained by comparing the actual system with the ideal target system.Therefore,the system state trajectory is shaped,which improves the problem that the standard auto disturbance rejection controller has too many parameters due to its nonlinearity and is difficult to set,which is difficult to apply in practical engineering.Due to the characteristics of load uncertainty and time-varying under the actual complicated working conditions of the electric cylinder system,the model information-based compensation link is added to the ADRC strategy of the model-independent engineering control algorithm.Through the identification and compensation of moment of inertia and load torque,the observation difficulty of the extended state observer is reduced,the observation ability of residual undesired factors is enhanced,and the anti-interference performance of the system is improved.Additionally,for the dead-time effect of the actual system,the current distortion and torque ripple reduce the low-speed performance of the motor,which in turn affects the servo tracking accuracy.In this paper,the average error voltage compensation method is used to compensate the dead-time and improve the servo tracking accuracy.Finally,this paper tests the proposed control algorithm through MATLAB simulation and the experimental platform of PMSM.The feasibility and effectiveness of the servo system control algorithm are verified,and the expected servo performance index is met.