Auto Disturbance Rejection Control Research Of The Linear Servo System Based On Parameter Optimization

Permanent magnet linear synchronous motor (PMLSM) servo system has theadvantages of high precision, high speed, fast response, at the same time because its smallvolume, high efficiency, high reliability and strong ability to adapt to the environment andhas been widely used in aerospace, weapons, electric power, etc. But PMLSM issusceptible to internal parameters change, the end effect, wind resistance and friction,multiple disturbance factors, make it difficult to control, and servo performance reduced.In order to improve the performance of the servo system existing in the internaldisturbance and the influence of external disturbance, in this thesis, the active disturbancerejection control (ADRC) technology based on chaotic particle swarm optimization（CPSO）is applied to linear servo system.First of all, on the basis of consulting a large number of related literature at home andabroad, this thesis discusses the topic research background, purpose and meaning,expounds the basic situation of the PMLSM, and the mathematical model of PMLSM d-qaxis was built on the basis of the formula and theory analysis. At the same time, the controlstrategy of commonly used in linear motor were reviewed and their respective strengthsand weaknesses were analyzed.Secondly, on the basis of detailed analysis of the internal links and external functionsof ADRC, the second-order position ADRC for PMLSM was designed, and then adjust theappropriate parameters, and eventually get superior performance linear servo controlsystem based on ADRC. The simulation results show that this control system has gooddynamic and static performance and good robustness. But the ADRC parameter isnumerous, it is not easy to adjust.Again, in view of the reality that the second order classic ADRC parameter isnumerous and difficult to adjust, in this thesis, the structure of classical ADRC wasoptimized, combination of the controlled object, the double closed-loop first-order ADRCwas adopt: omitting the nonlinear tracking differentiator, and at the same time nonlinear feedback control was instead by proportion link, so the parameters need to debug weregreatly reduced. Simulation results show that the double loop optimized first-order ADRCcontrol effect is less second-order classic the ADRC, but a lot of adjusting time was save,realize and practicability is greatly enhanced.Finally, the chaotic particle swarm optimization (CPSO) algorithm is introduced intothe second-order classical ADRC parameter optimization. Parameters of the optimalsolution can be obtained quickly through the integrated use of the advantages of CPSOergodicity, randomness, fast convergence speed and so on. Simulation results show that thesecond order ADRC optimized by CPSO, both the change after the double closed loopfirst-order ADRC and second-order classic ADRC their respective advantages: fast risetime quick, short adjusting time, no overshoot, high steady precision, the very goodanti-jamming. And the optimized parameters have a certain degree of adaptability fordifferent charged objects.