Research On Fuzzy Active Disturbance Rejection Control Of Linear Motion Platform

The linear motion platform has the advantages of simple structure,high precision,large thrust and fast response.It is the first choice for applications requiring high servo performance,such as IC manufacturing equipment,precision servo machine tools,and optical measuring instruments,and has broad application prospects.In the field of precision motion,servo equipment is required to have very high motion accuracy and stability,but the linear motion platform is a strongly coupled,non-linear and uncertain parameter system,which is disturbed by various internal and external disturbance factors in practical applications.Sports performance is greatly affected.Therefore,in order to reduce or eliminate the influence of internal and external disturbances of the linear motion platform and ensure high-performance motion of the linear motion platform,a fuzzy active disturbance rejection control research on the linear motion platform was carried out.Firstly,the main disturbances and time-delay characteristics in the motion control of the linear motion platform are analyzed,and the mathematical model of the linear motion platform considering multiple disturbance factors is established.According to the structure and operating principle of the linear motion platform,the internal and external disturbance characteristics caused by its structure and motion process are analyzed;According to the inherent time-delay characteristics of the system,the integral inequality is used to analyze the system stability of the PI control system considering time-delay,to obtain the effect of time lag and system stability,and to lay a theoretical foundation for the control strategy research.Considering comprehensively disturbance suppression and motion performance,a fuzzy active disturbance rejection controller(Fuzzy-ARDC)is designed.On the basis of studying the principle of traditional auto disturbance rejection control technology,in order to improve the parameter adaptability of the controller,fuzzy control and active disturbance rejection control are combined to design Fuzzy-ADRC algorithm and formulate parameter tuning.Build a simulation model of the control system of the linear motion platform based on the Fuzzy-ADRC.The simulation results show that the proposed Fuzzy-ADRC method has the advantages of higher robustness,stronger anti-interference and better adaptability than the traditional PID control method.Develop a linear motion platform control system based on Power PMAC,and carry out fuzzy auto disturbance rejection motion control experiment.Air float and marble support schemes are used to reduce the impact of friction on the performance of the sports platform.Complete equipment debugging and system communication connection,and based on Power PMAC IDE library function,real-time acquisition of real-time position,speed and acceleration of the system.Using MBD(model-based design)method,based on Power PMAC development environment,develop motion control programs.Linear motion platform fuzzy auto-disturbance motion control experiment was carried out in various motion forms to verify the effectiveness of the proposed control method and achieve high-performance motion control for linear motion platform.