The Development Of Two-dimensional Motion Platform Control System In View Of Active Disturbance Rejection Technology

The accuracy of displacement and the stability of speed are the major researchdirections of motion control, also,2D motion platform is the core component of allkinds of precision processing systems, precision measuring systems and medicalequipments, therefore, the research of2D motion platform control system haspractical significance in engineering.The Active Disturbance Rejection Controller (ADRC), whose structure andalgorithm are simple, develops on the basis of the quintessential thought of PIDController, and it does not depend on the precise mathematical model. The ExtendedState Observer (ESO), as the core of the controller, is able to estimate the currentdisturbance in inside or outside of system, and then compensates the disturbance byproper form in order to eliminate the disturbance.b0,the compensating factor, is thesingle parameter of the ADRC and easily to be set. It has strong robustness in thecomplex conditions, and can improve the control effect of system effectively.Based on the analysis of the operating principle of the ADRC and2D motionplatform, the essay establishes a simulation model of the Active DisturbanceRejection Control system in2D motion platform to prove the effectiveness androbustness of the system. And then it develops a test platform of system, whosehardware takes the TMS320F2812as the controller chip and design in softwareincludes the upper computer and the lower computer. Compared with PID controller,the test results show that the parameters are easier to set, the dynamic and staticperformance are better, and the robustness are stronger when the ADRC is used in thecontrol of2D motion platform.