阅读说明：本技术 基于匹配扰动补偿的音圈驱动器力输出式位移控制方法 (Voice coil driver force output type displacement control method based on matching disturbance compensation ) 是由 王若同 舒明雷 王英龙 陈超 于 2021-08-27 设计创作，主要内容包括：一种基于匹配扰动补偿的音圈驱动器力输出式位移控制方法,可实现对时变非线性负载和系统模型不确定性动态进行实时在线估计与主动补偿,更适用于拖动宽动态范围复杂时变非线性负载的音圈型驱动器的位移控制。通过在线估计和主动补偿的方法,可抵消包含时变非线性负载与系统模型不确定性动态在内的等效匹配注入扰动,从而通过反馈的方法将补偿后的系统改造为典型的二阶系统,具备更理想的动态特性。在抵消等效注入扰动的基础上引入有限时间收敛律。可减少输出位移与参考位移的相位差,同时有效降低切换控制量,避免抖震效应对系统控制品质的劣化。(A voice coil driver force output type displacement control method based on matching disturbance compensation can achieve real-time online estimation and active compensation of time-varying nonlinear load and system model uncertainty dynamic, and is more suitable for displacement control of a voice coil type driver dragging complex time-varying nonlinear load in a wide dynamic range. Through the method of online estimation and active compensation, the equivalent matching injection disturbance including the time-varying nonlinear load and the uncertainty dynamic of the system model can be counteracted, so that the compensated system is transformed into a typical second-order system through a feedback method, and the system has more ideal dynamic characteristics. And introducing a finite time convergence law on the basis of counteracting the equivalent injection disturbance. The phase difference between the output displacement and the reference displacement can be reduced, the switching control quantity is effectively reduced, and the degradation of the control quality of the system due to the shaking effect is avoided.)

1. A voice coil driver force output type displacement control method based on matching disturbance compensation is characterized by comprising the following steps:

a) by the formulaEstablishing a mathematical model of a voice coil type driver including an equivalent matched injected perturbation force having a force dimension, whereinFor acceleration of moving parts in a voice coil drive, M for voice coil driveTotal mass of moving parts in actuators, F_aFor the electromagnetic force acting on the voice coil, F_dThe disturbance force is injected for an equivalent match with the force dimension,c is the mechanical damping coefficient of the voice coil driver,is the velocity of the moving part in the voice coil driver, k is the elastic coefficient of the leaf spring inside the voice coil driver, x is the displacement of the voice coil relative to the equilibrium position, F_fIs the running resistance acting on the voice coil;

b) by the formulaThe disturbance force F is obtained through calculation_dIs estimated value ofWherein D is a constant matrix. D ═ 01]L is a parameter vector of the disturbance observer,vector element L₁And L₂Are all adjustable parameters, and are all provided with adjustable parameters, is composed ofThe differential of (a) is determined,

c) by the formulaCalculating to obtain equivalent control force F^eqIn the formula, k₁And k₂F is simple harmonic motion frequency and t is time, which are proportional parameters of the constructed linear output function;

d) by the formulaCalculating to obtain the finite time convergence force F^conIn the formula K_λFor adjustable parameters, K_λ＞0；

e) According to the formulaCalculating to obtain the expected control force F^des；

f) By the formulaCalculating to obtain the current i of the voice coil for operating the voice coil driver^des，K_sIs the motor constant;

g) the current closed-loop control of the voice coil type driver based on PI control is established through the current i of the voice coil^desAnd driving the voice coil driver to act.

2. The voice coil driver force-output displacement control method based on matching disturbance compensation of claim 1, wherein: the moving part in the voice coil driver in the step a) comprises a connecting rod of the voice coil driver and a voice coil of the voice coil driver.

Technical Field

The invention relates to the technical field of voice coil drivers, in particular to a voice coil driver force output type displacement control method based on matching disturbance compensation.

Background

The voice coil type driver can realize theoretically infinitesimal positioning resolution because a transmission device can be cancelled and a phase change mechanism is not needed. By applying the quick response characteristic of the voice coil type driver, the equipment can drag a load to realize high-frequency motion in a large dynamic range, and is widely applied to scenes such as a mechanical hard disk, lens focusing, a mechanical arm end effector, a fatigue testing device and the like. However, in actual operation, along with the aggravation of the abrasion process between the mover and the stator of the voice coil type driver, the friction coefficient can obviously change; the load dragged by the device also changes in a large range due to different working conditions. The device level shows strong non-linear and time-varying characteristics of the running resistance of the driver relative to the position and the speed. In addition, in each minimum movement period during the reciprocating movement, there are two points of time when the displacement speed is zero. When the rotor moves to the corresponding positions at the moments, the characteristic change of the running resistance from the dynamic friction force to the static friction force and then to the dynamic friction force occurs, so that the running resistance curve presents the characteristic of periodic impact. The presence of the above phenomena makes it difficult for the conventional methods employed in industrial control to ensure positioning accuracy throughout the entire operating cycle of the plant. In recent years, three main types of approaches have been proposed around the positioning problem of voice coil type drivers: the first type uses a robust control method to design a controller aiming at the upper and lower bounds of system uncertainty. The stability of the closed loop system can be ensured but the positioning accuracy is sacrificed to some extent. The second type uses a nonlinear control method to design a controller aiming at the upper and lower limits of nonlinear dynamics and uncertainty of a known system, but cannot give full play to the advantages of complex frictional load. The third type uses an off-line disturbance compensation method, has a good effect on application scenes such as a voice coil type positioning platform with relatively fixed working conditions, an automatic focusing module and the like, but cannot adapt to application scenes of dragging time-varying loads such as a fatigue testing device with a large working condition change range, a mechanical arm end effector and the like.

Disclosure of Invention

In order to overcome the defects of the technology, the invention provides a method for actively counteracting the disturbance through the input end of the system to improve the control precision of the system by carrying out online estimation on the equivalent matching injection disturbance including the time-varying nonlinear load and the uncertainty dynamic of the system model.

The technical scheme adopted by the invention for overcoming the technical problems is as follows:

a voice coil driver force output type displacement control method based on matching disturbance compensation comprises the following steps:

a) by the formulaEstablishing a mathematical model of a voice coil type driver including an equivalent matched injected perturbation force having a force dimension, whereinIs the acceleration of the moving part in the voice coil driver, M is the total mass of the moving part in the voice coil driver, F_aFor the electromagnetic force acting on the voice coil, F_dThe disturbance force is injected for an equivalent match with the force dimension,c is the mechanical damping coefficient of the voice coil driver,is the velocity of the moving part in the voice coil driver, k is the elastic coefficient of the leaf spring inside the voice coil driver, x is the displacement of the voice coil relative to the equilibrium position, F_fIs the running resistance acting on the voice coil;

b) by the formulaThe disturbance force F is obtained through calculation_dIs estimated value ofWherein D is a constant matrix. D ═ 01]L is a parameter vector of the disturbance observer,vector element L₁And L₂Are all adjustable parameters, and are all provided with adjustable parameters,is composed ofThe differential of (a) is determined,

c) by the formulaCalculating to obtain equivalent control force F^eqIn the formula, k₁And k₂F is simple harmonic motion frequency and t is time, which are proportional parameters of the constructed linear output function;

d) by the formulaCalculating to obtain the finite time convergence force F^conIn the formula K_λFor adjustable parameters, K_λ＞0；

e) According to the formulaCalculating to obtain the expected control force F^des；

f) By the formulaCalculating to obtain the current i of the voice coil for operating the voice coil driver^des，K_sIs the motor constant;

g) the current closed-loop control of the voice coil type driver based on PI control is established through the current i of the voice coil^desAnd driving the voice coil driver to act.

Further, the moving part of the voice coil driver in step a) includes a connecting rod of the voice coil driver and a voice coil of the voice coil driver.

The invention has the beneficial effects that: the invention can realize real-time online estimation and active compensation of the time-varying nonlinear load and the uncertainty dynamic of a system model, and is more suitable for displacement control of a voice coil type driver dragging the complex time-varying nonlinear load with a wide dynamic range. Through the method of online estimation and active compensation, the equivalent matching injection disturbance including the time-varying nonlinear load and the uncertainty dynamic of the system model can be counteracted, so that the compensated system is transformed into a typical second-order system through a feedback method, and the system has more ideal dynamic characteristics. And introducing a finite time convergence law on the basis of counteracting the equivalent injection disturbance. The phase difference between the output displacement and the reference displacement can be reduced, the switching control quantity is effectively reduced, and the degradation of the control quality of the system due to the shaking effect is avoided. The invention is different from the conventional control method based on the model, and does not need to carry out a large amount of test work on the control object for modeling. The parameter of the total mass of the moving part which is only required to be acquired can be measured by adopting a weighing mode, and great convenience is provided for the practical method.

Drawings

FIG. 1 is a block diagram of the control system of the present invention;

FIG. 2 is a schematic diagram of the method of the present invention.

Detailed Description

The invention will be further explained with reference to fig. 1 and 2.

As shown in fig. 2, a voice coil driver force output type displacement control method based on matching disturbance compensation includes the following steps:

a) by the formulaEstablishing a mathematical model of a voice coil type driver including an equivalent matched injected perturbation force having a force dimension, whereinFor acceleration of moving parts in a voice coil drive, M for voice coil driveTotal mass of moving parts in actuators, F_aFor the electromagnetic force acting on the voice coil, F_dThe disturbance force is injected for an equivalent match with the force dimension,c is the mechanical damping coefficient of the voice coil driver,is the velocity of the moving part in the voice coil driver, k is the elastic coefficient of the leaf spring inside the voice coil driver, x is the displacement of the voice coil relative to the equilibrium position, F_fIs the running resistance acting on the voice coil;

b) by the formulaThe disturbance force F is obtained through calculation_dIs estimated value ofWherein D is a constant matrix. D ═ 01]L is a parameter vector of the disturbance observer,vector element L₁And L₂Are all adjustable parameters, and are all provided with adjustable parameters,is composed ofThe differential of (a) is determined,

c) by the formulaCalculating to obtain equivalent control force F^eqIn the formula, k₁And k₂F is simple harmonic motion frequency and t is time, which are proportional parameters of the constructed linear output function;

d) by the formulaCalculating to obtain the finite time convergence force F^conIn the formula K_λFor adjustable parameters, K_λ＞0；

e) According to the formulaCalculating to obtain the expected control force F^des；

f) By the formulaCalculating to obtain the current i of the voice coil for operating the voice coil driver^des，K_sIs the motor constant;

g) the current closed-loop control of the voice coil type driver based on PI control is established through the current i of the voice coil^desAnd driving the voice coil driver to act.

As shown in the attached figure 1, the hardware part of the invention mainly comprises a displacement sensor, an embedded controller, a direct current stabilized power supply and a current regulator. The displacement sensor is obtained by a linear orthogonal encoder or an LVDT. The embedded controller can be selected from a digital signal processor or an ARM microcontroller chip. The current regulator circuit topology is a two-phase full bridge IGBT or PowerMOSFET. The DC stabilized power supply uses a linear analog power supply or a switching power supply. The embedded controller to current regulator circuit signal is a pulse width modulated signal.

The invention can realize real-time online estimation and active compensation of the time-varying nonlinear load and the uncertainty dynamic of a system model, and is more suitable for displacement control of a voice coil type driver dragging the complex time-varying nonlinear load with a wide dynamic range. Through the method of online estimation and active compensation, the equivalent matching injection disturbance including the time-varying nonlinear load and the uncertainty dynamic of the system model can be counteracted, so that the compensated system is transformed into a typical second-order system through a feedback method, and the system has more ideal dynamic characteristics. And introducing a finite time convergence law on the basis of counteracting the equivalent injection disturbance. The phase difference between the output displacement and the reference displacement can be reduced, the switching control quantity is effectively reduced, and the degradation of the control quality of the system due to the shaking effect is avoided. The invention is different from the conventional control method based on the model, and does not need to carry out a large amount of test work on the control object for modeling. The parameter of the total mass of the moving part which is only required to be acquired can be measured by adopting a weighing mode, and great convenience is provided for the practical method.

Further, the moving part of the voice coil driver in step a) includes a connecting rod of the voice coil driver and a voice coil of the voice coil driver.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.