Linear Active Disturbance Rejection Contour Control of X-Y Motion Platform Driven by Dual PMSMs

Authors:
Open Access
Publisher website
Google Scholar
Abstract
In order to solve the problem that the contour processing of X-Y motion platform is easily affected by load disturbance, friction disturbance and fluctuation of motor parameters, this paper proposes a linear active disturbance rejection contour control strategy of X-Y motion platform driven by dual permanent magnet synchronous motors. The anti-disturbance performance of the position loop is improved by establishing a linear extended state observer to compensate the disturbance. At the same time, the differential feedforward control is added to improve the rapidity of the system, so that the position loop can ensure a certain anti-disturbance while taking into account the rapidity performance. On this basis, a cross-coupled position synchronous compensator is added to improve the synchronous performance of the system. The stability and anti-disturbance performance of the system are studied by the Bode diagram analysis method in the frequency domain, and the tracking performance and contour performance are analyzed. Finally, the simulation research is carried out to verify the effectiveness of the proposed control algorithm.
Funding Information
  • Tianjin Research Innovation Project for Postgraduate Students (2022SKYZ051, 2022SKYZ009)
  • Tianjin Education Commission Scientific Research Project (2022ZD010)

This publication has 10 references indexed in Scilit: