新型直线电机运动控制系统分数阶扰动观测与抑制研究

Compared with the conventional linear motion realization scheme in which rotary motors and ball screws are used, systems driven by linear motors directly have advantages of simple structure, fast response, and high accuracy. However, this structural simplification makes linear motors easily affected by various kinds of disturbances, which increases the control difficulty. In this project, disturbances of the self-made novel linear motor system are observed and rejected based on fractional calculus to realize high-performance motion control goals. Theoretical analysis, numerical simulation, and experimental research will be implemented to solve critical problems of applying linear motors to various high-performance linear motion systems, including force ripple rejection, load and system parameters variation, nonlinear friction and external disturbances observation and compensation. Fractional order proportional–integral–derivative controller based on fractional order disturbance observer, fractional order active disturbance rejection controller with feedforward control, and fractional order human-simulated intelligent controller will be proposed to realize high and low speed control, precise trajectory tracking control and smooth thrust control of the linear motor respectively, which will be experimental validated by self-made 6-degree-of-freedom parallel robot application. Research results of the project will provide theoretical basis and technical approach for high-performance linear motion system realization, and linear motors and their control theory will be developed and applied better.

与常规旋转电机加滚珠丝杠等装置实现直线运动相比，采用直线电机直接驱动，具有结构简单、响应快和精度高等特点。但直线电机更易受各种扰动因素的影响，将传动机构的简化转化为控制难度的增加。本项目基于分数阶微积分理论，对自行研制的新型直线电机系统扰动进行观测与抑制，实现高性能运动控制目标。通过理论分析、数值模拟和实验验证的方法，重点解决直线电机控制各类高性能直线运动系统的共性关键问题，包括推力波动抑制、负载及系统参数变化、非线性摩擦力和外部扰动作用的观测与补偿等。拟采用基于分数阶干扰观测器的分数阶比例积分微分控制器、分数阶前馈自抗扰控制器和分数阶仿人智能控制器，分别实现直线电机高低速控制、高精度轨迹跟踪和平滑推力控制，并以自制六自由度并联机器人进行实验验证。项目研究结果将为高性能直线运动系统的实现提供理论基础和技术途径，进一步推动直线电机及其控制理论的发展和应用。

针对直线电机直接驱动控制系统易受各种扰动因素影响的问题，本研究基于分数阶微积分理论，对自行研制的新型直线电机系统扰动进行观测与抑制，实现高性能运动控制目标。通过理论分析、数值模拟和实验验证相结合的方法对直线电机进行运动控制研究，重点研究了基于分数阶前馈自抗扰控制器的直线电机轨迹跟踪控制方法并进行实验验证，提出了合适的性能指标并对控制算法的性能进行合理评估；研究基于分数阶自抗扰控制器的直线电机点到点定位控制方法，实现了直线电机高精度定位控制性能；研究了基于分数阶伯德理想截止频率滤波器的直线电机自抗扰运动控制系统的噪声影响，进一步提高了直线运动系统的控制性能。通过本项目的研究，重点突破了系统动态不确定性扰动的观测与抑制策略、控制算法性能指标间的综合协调与合理评价两个关键问题，实现了直线电机高性能运动控制目标，研究结果为直线电机进一步用于实际系统提供了理论依据和技术途径。