| 刘福才* **,韩录* **,杜浩森* ***.改进自抗扰控制器在X-Y平台恒力控制中的应用[J].高技术通讯(中文),2025,35(5):526~534 |
| 改进自抗扰控制器在X-Y平台恒力控制中的应用 |
| Application of improved active disturbance rejection controller in constant force control of X-Y platform |
| |
| DOI：10. 3772 / j. issn. 1002-0470. 2025. 05. 008 |
| 中文关键词: 自动切膜； 线性自抗扰； 跟踪微分器； X-Y平台； 恒力跟踪； 鲁棒性 |
| 英文关键词: automatic film cutting, linear active disturbance rejection, tracking differentiator, X-Y platform, constant force tracking, robustness |
| 基金项目: |
| 作者 | 单位 | | 刘福才* ** | (*燕山大学智能控制系统与智能装备教育部工程研究中心秦皇岛 066004）
(**燕山大学工业计算机控制工程河北省重点实验室秦皇岛 066004)
(***燕山大学机械工程学院秦皇岛 066004) | | 韩录* ** | | | 杜浩森* *** | |
|
| 摘要点击次数: 51 |
| 全文下载次数: 110 |
| 中文摘要: |
| 针对X-Y平台中模型误差和扰动未知等问题，本文以夹胶玻璃自动切膜为应用背景，设计自动切膜恒力控制系统，并对系统中的交互力进行分析与建模。提出了一种改进线性自抗扰(linear active disturbance rejection controller，LADRC)力控制器，将滑模控制嵌入到基于预报的线性跟踪微分器(tracking differentiator，TD)中，平衡滤波与相位滞后间的矛盾，利用分数阶比例微分(fractional order proportion differentiation，FOPD)快速响应跟踪力误差，并通过Lyapunov函数对改进线性跟踪微分器进行稳定性证明。通过与线性自抗扰进行比较,对所设计的控制器进行了仿真分析与实验验证。实验结果表明，当玻璃位置等参数发生变化时，基于改进跟踪微分器的线性自抗扰控制系统仍能较好地实现对切刀的交互力控制，有效保证切膜效果，证明了提出方法的有效性与实用性。 |
| 英文摘要: |
| In the context of automatic film cutting for laminated glass on the X-Y platform, where issues such as model errors and unknown disturbances exist, this paper designs the automatic film cutting constant force control system and analyzes and models the interaction force in the system. An improved linear active disturbance rejection controller (LADRC) is proposed, which integrates sliding mode control into the prediction-based linear tracking differentiator (TD). This approach balances the conflict between filtering and phase lag, employs fractional order proportion differentiation (FOPD) for rapid response to tracking force errors, and proves the stability of the improved linear TD using the Lyapunov. Finally, through simulation analysis and experimental verification, and compared with the traditional LADRC, it is demonstrated that the control system based on the improved TD can effectively manage the interaction force on the cutter even when parameters such as the glass position change, ensuring a good film cutting effect. This confirms the effectiveness and practicality of the proposed method. |
|
查看全文
查看/发表评论 下载PDF阅读器 |
| 关闭 |
|
|
|
