Wei Wei, Zhang Zhiyuan, Zuo Min
Beijing Technology and Business University, Beijing 100048, China; Beijing University of Posts and Telecommunications, Beijing 100876, China.
Beijing Technology and Business University, Beijing 100048, China.
ISA Trans. 2021 Oct;116:218-231. doi: 10.1016/j.isatra.2021.01.004. Epub 2021 Jan 6.
Hysteresis severely reduces positioning accuracy of a piezoelectric nanopositioning system. Inverse hysteresis model-based control is difficult to maintain satisfied performance in presence of uncertainties and disturbances. Linear active disturbance rejection control (LADRC) is a practical approach. However, phase lag of the total disturbance estimation degrades its estimation ability and tracking performance. In this work, a phase-leading extended state observer (PLESO) is constructed by adding a phase-leading network to a linear extended state observer. Advantage of the PLESO on estimating the time-varying total disturbance is analyzed, and influence of the multiplication factor introduced by a PLESO is also discussed. By a leading phase provided by the PLESO, the phase-leading active disturbance rejection control (PLADRC) can compensate the total disturbance timelier, and more satisfied positioning can be guaranteed. Experimental results show that the PLADRC is superior to the LADRC in terms of dynamic responses and disturbance rejection. Without introducing nonlinearities or increasing the order, the PLESO provides an effective way to enhance the active disturbance rejection control (ADRC).
迟滞严重降低了压电纳米定位系统的定位精度。基于逆迟滞模型的控制在存在不确定性和干扰的情况下难以保持令人满意的性能。线性自抗扰控制（LADRC）是一种实用的方法。然而，总干扰估计的相位滞后会降低其估计能力和跟踪性能。在这项工作中，通过向线性扩展状态观测器添加一个相位超前网络来构建一个相位超前扩展状态观测器（PLESO）。分析了PLESO在估计时变总干扰方面的优势，并讨论了PLESO引入的乘法因子的影响。通过PLESO提供的超前相位，相位超前自抗扰控制（PLADRC）可以更及时地补偿总干扰，并保证更令人满意的定位。实验结果表明，PLADRC在动态响应和抗干扰方面优于LADRC。在不引入非线性或不增加阶数的情况下，PLESO提供了一种增强自抗扰控制（ADRC）的有效方法。
