Research On Active Disturbance Rejection Control Of Permanent Magnet Linear Synchronous Motor With Position Prediction

Research on anti-interference and high-precision tracking of linear motor servo system is of great significance for improving the industrial servo level and realizing the investigation of precision machine tools.In order to meet the strict requirement standard of modern industry,the linear motor servo system needs to have the comprehensive output capability of fast,accurate and stable positioning operation.Therefore,aiming to suppress anti-interference and steady-state error,this paper conducts the high-performance control research for the permanent magnet linear synchronous motor(PMLSM)servo system.Firstly,starting from the motor motion equation,the necessity of anti-disturbance control is analyzed and the corresponding conventional second-order linear active disturbance rejection control(ADRC)is designed;furthermore,the performance of the state error has been theoretically calculated and analyzed,and the result shows that there is a certain optimization space on the steady-state error performance of the system.Secondly,since the disturbance steady-state error of the PI control is lower than that of the conventional ADRC,combining the advantages of the two structures,this paper puts forward a speed integral ADRC.The main design innovation on designing speed integration segment to improving the control law,and then realize the reduction of the system steady-state error under the disturbance signal input.Meanwhile,considering the tracking lag caused by the position delay in the actual system,this paper designed two-step position prediction to deal with the advanced correction of position feedback,and further improve optimization effect of the steady-state error.Moreover,the system stability of proposed strategy is proved.Finally,designing the experiments tests the actual application performance of the proposed controller under three typical input signals: step,triangular wave and sine.The results show that,compared with conventional ADRC,the proposed strategy has a smaller position variation and a shorter adjustment time in the process of disturbance adjustment.And the reduction of steady-state error indicates that effectiveness and superiority of the integration segment and the comprehensive constraints of position prediction.In addition,considering the types of input signals,the results also shows that the proposed control strategy can achieve effective optimal control of the steady-state error under complex motion conditions.The control strategy proposed in this paper realizes the simultaneous optimization of anti-disturbance performance and steady-state error suppression,and can meet the requirements of high precision in modern industry.