基于二阶 LADRC 的三轴轨迹跟踪控制

微特电机 ›› 2025, Vol. 53 ›› Issue (1): 60-64.

基于二阶 LADRC 的三轴轨迹跟踪控制

杨赛东¹,张士雄²,刘德波¹,陈帮军¹

1. 黄河科技学院工学部,郑州 450006; 2. 河南工业大学机电工程学院,郑州 450001

收稿日期:2024-07-08 出版日期:2025-01-28 发布日期:2025-01-16
基金资助:
河南省高等学校重点科研项目( 25B460022) ; 国家自然科学基金项目( 51407062)

Three-axis Trajectory Tracking Control Based on Second-order LADRC

YANG Saidong¹, ZHANG Shixiong², LIU Debo¹, CHEN Bangjun¹

1. Engineering Department, Huanghe Science and Technology University,Zhengzhou 450006, China;
2. School of Mechanical and Electrical Engineering, Henan University of Technology,Zhengzhou 450001, China

Received:2024-07-08 Online:2025-01-28 Published:2025-01-16

摘要/Abstract

摘要： 三轴空间运动控制系统中,稳定状态下各轴负载突变不一致将导致系统跟踪误差大、抗扰性能差。针对该问题提出了一种融合速度误差同步偏差耦合控制器与轮廓交叉耦合控制器的双极串联复合控制方法。设计三轴空间运动平台,其中速度误差同步偏差耦合控制器用于各轴速度环的补偿、轮廓交叉耦合控制器用于各轴位置环的补偿、二阶线性自抗扰控制器用于各轴速度环控制,并在仿真环境下搭建了三轴空间运动平台试验模型。研究结果表明,融合速度误差同步偏差耦合控制器与轮廓交叉耦合控制器的双极串联复合控制方法可以提高各轴间的同步协调性,二阶线性自抗扰控制器可以提高单轴的抗扰性,所设计的控制方法可以有效提高三轴空间运动平台的轨迹跟踪精度和抗干扰性。

关键词: 二阶线性自抗扰控制器, 速度误差同步, 偏差耦合

Abstract: 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.

Key words: second order linear active disturbance rejection controller ( LADRC), synchronization of speed error,deviation coupling

中图分类号:

TM464

杨赛东, 张士雄, 刘德波, 陈帮军. 基于二阶 LADRC 的三轴轨迹跟踪控制[J]. 微特电机, 2025, 53(1): 60-64.

YANG Saidong ZHANG Shixiong LIU Debo et al.. Three-axis Trajectory Tracking Control Based on Second-order LADRC[J]. Small & Special Electrical Machines, 2025, 53(1): 60-64.