Li Ping, Guo Kaiqi, Zhang Mingming
Department of Biomedical Engineering, Southern University of Science and Technology, 1088 Xueyuan Ave, Nanshan District, Shenzhen, 518055, China.
ISA Trans. 2022 Oct;129(Pt B):663-672. doi: 10.1016/j.isatra.2022.02.035. Epub 2022 Feb 25.
In this paper, a new linear active disturbance rejection control (LADRC) is proposed for servo systems based on active damping (AD), internal model control (IMC) and sliding mode control (SMC). The IMC rules are applied to tune the controller gains for a prescribed tracking performance. The AD method injects a virtual damping force into the motion system to actively attenuate disturbances. By deriving the sliding dynamics of IMC, a boundary layer solution of SMC is employed to enhance the robustness of control system. As the improved robust IMC scheme is applied as the controller of LADRC, the uncompensated disturbance of linear extended state observer can be better suppressed. With this method, a higher tracking control accuracy is expected to be obtained in the presence of uncertain dynamics. Theoretical stability was analyzed based on the Lyapunov method. Comparative experiments were conducted on a permanent magnet synchronous motor to validate the superiority of the proposed approach.
本文基于主动阻尼（AD）、内模控制（IMC）和滑模控制（SMC），为伺服系统提出了一种新型线性自抗扰控制（LADRC）。应用内模控制规则来调整控制器增益，以实现规定的跟踪性能。主动阻尼方法向运动系统中注入虚拟阻尼力，以主动衰减干扰。通过推导内模控制的滑模动力学，采用滑模控制的边界层解来增强控制系统的鲁棒性。由于改进的鲁棒内模控制方案被用作线性自抗扰控制的控制器，线性扩展状态观测器的未补偿干扰能够得到更好的抑制。通过这种方法，有望在存在不确定动力学的情况下获得更高的跟踪控制精度。基于李雅普诺夫方法对理论稳定性进行了分析。在永磁同步电机上进行了对比实验，以验证所提方法的优越性。
