The nonlinear characteristics of high precision stepping electrical appliance drive system will affect the state characteristics of the system,leading to the uncertainty of the normal operation state,for which the active disturbance rejection control method of high-precision stepping motor servo system is proposed.Structural analysis is conducted on the motor servo system,based on which the relevant parameters such as system voltage and load torque are determined.Dynamic analysis of stepper motor servo system is carried out to define the current state of the system.A compound ADRC including tracking controller,extended state observer and nonlinear combined control law is designed.The input signal of the servo system is input into the designed controller to complete the composite active disturbance rejection control.The experimental results show that when using the proposed method to carry out composite active disturbance rejection control for servo systems,the control accuracy,stability,and efficiency are high with good control effect.
关键词
高精度步进电机/机械驱动伺服系统/复合自抗扰控制/扩张状态观测器
Key words
high precision stepper motor/mechanical drive servo system/composite active disturbance rejection control/extended state observer
维普
万方数据