Three-axis Trajectory Tracking Control Based on Second-order LADRC
In a three-axis spatial motion control system,inconsistent load variations across axes in a steady state can lead to significant tracking errors and poor disturbance rejection.To address the issue,a bipolar series composite control method was proposed.This method integrates a deviation coupling controller with speed error synchronization and a profile cross-coupling controller.The design included a three-axis spatial motion platform,where the deviation coupling controller compensated for the speed loop of each axis,the profile cross-coupling controller compensated for the position loop,and a second-order linear active disturbance rejection controller enhanced the speed loop control.A test model for the three-axis spatial motion platform was built under a simulation environment.Research findings indicate that the proposed bipolar series composite control method improves synchronization and coordination among axes,while the second-order linear active disturbance rejection controller enhances disturbance resistance for individual axes.Overall,the designed control method can effectively improve trajectory tracking accuracy and disturbance rejection capabilities of the three-axis spatial motion platform.
second order linear active disturbance rejection controller(LADRC)synchronization of speed errordeviation coupling
万方数据
维普
