Wei Wei, Duan Bowen, Zhang Weicun, Zuo Min
School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China; School of Computer and Information Engineering, Beijing Technology and Business University, Beijing 100048, China.
School of Computer and Information Engineering, Beijing Technology and Business University, Beijing 100048, China.
ISA Trans. 2022 Sep;128(Pt B):599-610. doi: 10.1016/j.isatra.2021.11.035. Epub 2021 Dec 10.
Hysteresis severely reduces positioning performance of a piezoelectric nanopositioning stage. Linear active disturbance rejection control (LADRC) is a practical solution to improve the positioning accuracy. However, the PD controller utilized in the LADRC is not effective enough to suppress the uncancelled total disturbance, and high-order pure integrators are difficult to be stabilized just by a PD controller. In this work, a robust U-model active disturbance rejection control (RUADRC) is proposed by incorporating the core idea of the U-model control and the Glover-McFarlane control. Then, the controlled plant can be dynamically transformed to a unit. Difficulties in stabilizing high-order pure integrators are decreased, the phase lag between the input and output of a controlled plant is reduced, and the closed-loop responses is sped up. In addition, the influence of both inaccurate total disturbance estimation and imperfect approximation is also minimized by the Glover-McFarlane control Closed-loop stability, steady-state tracking error, and the phase advantage of the RUADRC have been analysed. Theoretical results show that the RUADRC promises a timelier and more accurate positioning. Experimental results still confirm the advantages of the RUADRC over the LADRC on both reference tracking speed, accuracy and disturbance rejection ability.
迟滞严重降低了压电纳米定位平台的定位性能。线性自抗扰控制（LADRC）是提高定位精度的一种实用解决方案。然而，LADRC中使用的PD控制器在抑制未消除的总扰动方面效果不够显著，并且高阶纯积分器仅通过PD控制器难以实现稳定。在这项工作中，通过结合U型模型控制和Glover - McFarlane控制的核心思想，提出了一种鲁棒U型模型自抗扰控制（RUADRC）。然后，被控对象可以动态地转换为一个单位。降低了稳定高阶纯积分器的难度，减小了被控对象输入与输出之间的相位滞后，并加快了闭环响应。此外，Glover - McFarlane控制还将不准确的总扰动估计和不完美逼近的影响降至最低。分析了RUADRC的闭环稳定性、稳态跟踪误差和相位优势。理论结果表明，RUADRC能够实现更及时、更精确的定位。实验结果也证实了RUADRC在参考跟踪速度、精度和抗干扰能力方面优于LADRC。
