阅读说明：本技术 一种用于直线电机的自抗扰控制方法及相关装置 (Active-disturbance-rejection control method for linear motor and related device ) 是由 高健 刘亚超 张揽宇 钟永彬 于 2020-12-16 设计创作，主要内容包括：本申请公开了一种用于直线电机的自抗扰控制方法及相关装置,首先通过对包含驱动器模型的直线电机的精密运动系统进行模型辨识,对被控对象的参数进行预估；接着为进一步改善模型扩张状态观测器的估计精度,根据辨识得到的模型参数设计模型扩张状态观测器,实现了系统运动状态和总扰动的准确估计,使得控制系统拥有良好的抗干扰能力；然后基于扰动补偿器通过总扰动估计信号的补偿,将被控对象模型改造成已知的标称模型形式,并根据此模型设计内模PID反馈控制器,通过内模滤波器的参数来调整控制参数,即简化了参数整定,又保证了良好的动态响应性能；从而解决了现有自抗扰控制技术抗干扰能力较差,导致无法控制直线电机运动到精确的位置的技术问题。(The application discloses an active disturbance rejection control method and a related device for a linear motor, firstly, model identification is carried out on a precision motion system of the linear motor comprising a driver model, and parameters of a controlled object are pre-estimated; then, in order to further improve the estimation precision of the model extended state observer, the model extended state observer is designed according to the identified model parameters, so that the accurate estimation of the motion state and the total disturbance of the system is realized, and the control system has good anti-interference capability; then, based on the compensation of the total disturbance estimation signal by the disturbance compensator, the controlled object model is modified into a known nominal model form, an internal model PID feedback controller is designed according to the model, and the control parameters are adjusted through the parameters of an internal model filter, so that the parameter setting is simplified, and the good dynamic response performance is ensured; therefore, the technical problem that the linear motor cannot be controlled to move to an accurate position due to poor interference resistance of the existing active-disturbance-rejection control technology is solved.)

1. An active-disturbance-rejection control method for a linear motor, comprising:

s1, after model identification is carried out on the precision motion system of the linear motor to obtain an identification model, model parameters of the identification model are obtained, a model extended state observer, an internal model PID feedback controller and a disturbance compensator are built according to the model parameters, and the precision motion system of the linear motor comprises a driver model;

s2, the model extended state observer receives the actual position signal and the total control quantity sent by the precision motion system, and generates a position estimation signal and a total disturbance estimation signal according to the actual position signal and the total control quantity based on a model extended state observer equation set;

s3, the internal model PID feedback controller generates an initial control quantity according to the command signal of the target position and the position estimation signal based on an initial control quantity calculation formula, and inputs the initial control quantity into the disturbance compensator;

s4, the disturbance compensator generates a final controlled variable according to the total disturbance estimation signal and the initial controlled variable based on a final controlled variable calculation formula;

and S5, after the driver model adjusts the position of the linear motor according to the final control quantity, judging whether the position of the linear motor is consistent with the target position, if so, stopping calculation, and if not, returning to the step S2.

2. The active disturbance rejection control method for a linear motor according to claim 1, wherein said modeling an extended state observer based on said model parameters, thereafter further comprises:

and (4) setting the observer parameters of the model extended state observer through an Ackerman formula.

3. The active disturbance rejection control method for a linear motor according to claim 1, wherein the model extended state observer equation set is:

wherein y is the actual position signal, u is the final control amount, and z₁For the position estimation signal, z₂For estimating the signal for velocity, z₃Estimating a signal for said total disturbance,/₁、l₂、l₃Are all the parameters of the observer,b₀are all identification parameter values.

4. The active disturbance rejection control method for a linear motor according to claim 1, wherein the initial control amount calculation formula is:

in the formula u₀R is the target position command signal, k, for the initial control quantity_p、k_i、k_dAre all control parameters, e (t) is the feedback error, z₁Estimating a signal for the location.

5. The active disturbance rejection control method for a linear motor according to claim 1, wherein the final control amount calculation formula is:

wherein u is the final control amount, z₃Estimating a signal for said total disturbance, b₀To identify the parameter value u₀Is the initial control amount.

6. The active disturbance rejection control method for a linear motor according to claim 1, wherein an internal model filter of the internal model PID feedback controller is:

wherein λ is_fThe filter parameters are obtained, and the setting rule of the control parameters is as follows:

in the formula, b₀、Are all the values of the identification parameter, k_p、k_i、k_dAre all control parameters, and s is a frequency domain variable.

7. The active disturbance rejection control method for a linear motor according to claim 1, wherein an internal model filter of the internal model PID feedback controller is:

wherein λ is_sThe filter parameters are obtained, and the setting rule of the control parameters is as follows:

in the formula, b₀、Are all the values of the identification parameter, k_p、k_i、k_dAre all control parameters, and s is a frequency domain variable.

8. An active-disturbance-rejection control apparatus for a linear motor, comprising:

the modeling unit is used for carrying out model identification on a precision motion system of the linear motor to obtain an identification model, then obtaining model parameters of the identification model, and establishing a model extended state observer, an internal model PID feedback controller and a disturbance compensator according to the model parameters, wherein the precision motion system of the linear motor comprises a driver model;

a first calculating unit, configured to receive the actual position signal and the total control quantity sent by the precision motion system through the model extended state observer, and generate a position estimation signal and a total disturbance estimation signal according to the actual position signal and the total control quantity based on a model extended state observer equation set

A second calculation unit, configured to generate an initial control amount according to the command signal of the target position and the position estimation signal through the internal model PID feedback controller based on an initial control amount calculation formula, and input the initial control amount into the disturbance compensator;

a third calculation unit for generating a final control quantity from the total disturbance estimation signal and the initial control quantity based on a final control quantity calculation formula by the disturbance compensator

And the analysis unit is used for judging whether the position of the linear motor is consistent with the target position or not after the position of the linear motor is adjusted according to the final control quantity through the driver model, and if so, stopping calculation, otherwise, triggering the first calculation unit.

9. An active disturbance rejection control apparatus for a linear motor, the apparatus comprising a processor and a memory:

the memory is used for storing program codes and transmitting the program codes to the processor;

the processor is configured to execute the active disturbance rejection control method for a linear motor according to any one of claims 1 to 7 according to instructions in the program code.

10. A computer-readable storage medium for storing a program code for executing the active disturbance rejection control method for a linear motor according to any one of claims 1 to 7.

Technical Field

The present application relates to the field of automatic control technologies, and in particular, to an active disturbance rejection control method and related apparatus for a linear motor.

Background

The macro-micro composite high-speed precise positioning platform has become one of the most critical components in the chip packaging field. At present, macro motion is mainly driven by a linear motor, and quick and accurate positioning under a large stroke is realized. Therefore, the precision motion control performance of the linear motor servo system of the macro moving part is improved, and the method is an effective mode for improving the final positioning performance of the precision positioning platform.

In recent years, the active disturbance rejection control technology becomes a research hotspot of a control boundary without depending on an accurate model and extremely strong disturbance rejection performance, and the core idea is to estimate and compensate the motion state of a system and total disturbance received inside and outside the system by an extended state observer, so that a controlled object is transformed into a simple integral series form, and the design of a controller is simplified.

However, for a precise motion occasion with high requirements on complex and control performance, such as for the control of a linear motor, the traditional active disturbance rejection control technology has poor disturbance rejection capability, so that the linear motor cannot be controlled to move to a precise position, mainly because the estimation precision of the motion state and the total disturbance of a system is insufficient, and the estimation burden of a model extended state observer is too large.

Disclosure of Invention

The embodiment of the application provides an active disturbance rejection control method and a related device for a linear motor, and is used for solving the technical problem that the linear motor cannot be controlled to move to an accurate position due to poor interference rejection of the existing active disturbance rejection control technology.

In view of the above, a first aspect of the present application provides an active disturbance rejection control method for a linear motor, the method including:

s1, after model identification is carried out on the precision motion system of the linear motor to obtain an identification model, model parameters of the identification model are obtained, a model extended state observer, an internal model PID feedback controller and a disturbance compensator are built according to the model parameters, and the precision motion system of the linear motor comprises a driver model;

s2, the model extended state observer receives the actual position signal and the total control quantity sent by the precision motion system, and generates a position estimation signal and a total disturbance estimation signal according to the actual position signal and the total control quantity based on a model extended state observer equation set;

s3, the internal model PID feedback controller generates an initial control quantity according to the command signal of the target position and the position estimation signal based on an initial control quantity calculation formula, and inputs the initial control quantity into the disturbance compensator;

s4, the disturbance compensator generates a final controlled variable according to the total disturbance estimation signal and the initial controlled variable based on a final controlled variable calculation formula;

and S5, after the driver model adjusts the position of the linear motor according to the final control quantity, judging whether the position of the linear motor is consistent with the target position, if so, stopping calculation, and if not, returning to the step S2.

Optionally, the building a model extended state observer according to the model parameters further includes:

and (4) setting the observer parameters of the model extended state observer through an Ackerman formula.

Optionally, the system of equations of the model extended state observer is:

wherein y is the actual position signal, u is the final control amount, and z₁For the position estimation signal, z₂For estimating the signal for velocity, z₃Estimating a signal for said total disturbance,/₁、l₂、l₃Are all the parameters of the observer,b₀are all identification parameter values.

Optionally, the initial control amount calculation formula is:

in the formula u₀R is the target position command signal, k, for the initial control quantity_p、k_i、k_dAre all control parameters, e (t) is the feedback error, z₁Estimating a signal for the location.

Optionally, the final control amount calculation formula is:

wherein u is the final control amount, z₃Estimating a signal for said total disturbance, b₀To identify the parameter value u₀Is the initial control amount.

Optionally, the internal model filter of the internal model PID feedback controller is:

wherein λ is_fThe first-order filter parameters are obtained, and the setting rule of the obtained control parameters is as follows:

in the formula, b₀、Are all the values of the identification parameter, k_p、k_i、k_dAre all control parameters, and s is a frequency domain variable.

Optionally, the internal model filter of the internal model PID feedback controller is:

wherein λ is_sThe second-order filter parameters are obtained, so that the setting rule of the obtained control parameters is as follows:

in the formula, b₀、Are all the values of the identification parameter, k_p、k_i、k_dAre all control parameters, and s is a frequency domain variable.

A second aspect of the present application provides an active-disturbance-rejection control apparatus for a linear motor, the apparatus comprising:

the modeling unit is used for carrying out model identification on a precision motion system of the linear motor to obtain an identification model, then obtaining model parameters of the identification model, and establishing a model extended state observer, an internal model PID feedback controller and a disturbance compensator according to the model parameters, wherein the precision motion system of the linear motor comprises a driver model;

a first calculating unit, configured to receive the actual position signal and the total control quantity sent by the precision motion system through the model extended state observer, and generate a position estimation signal and a total disturbance estimation signal according to the actual position signal and the total control quantity based on a model extended state observer equation set

A second calculation unit, configured to generate an initial control amount according to the command signal of the target position and the position estimation signal through the internal model PID feedback controller based on an initial control amount calculation formula, and input the initial control amount into the disturbance compensator;

a third calculation unit for generating a final control quantity from the total disturbance estimation signal and the initial control quantity based on a final control quantity calculation formula by the disturbance compensator

And the analysis unit is used for judging whether the position of the linear motor is consistent with the target position or not after the position of the linear motor is adjusted according to the final control quantity through the driver model, and if so, stopping calculation, otherwise, triggering the first calculation unit.

A third aspect of the present application provides an active disturbance rejection control apparatus for a linear motor, the apparatus comprising a processor and a memory:

the memory is used for storing program codes and transmitting the program codes to the processor;

the processor is configured to execute the steps of the active disturbance rejection control method for the linear motor according to the first aspect.

A fourth aspect of the present application provides a computer-readable storage medium for storing program code for executing the active disturbance rejection control method for a linear motor according to the first aspect.

According to the technical scheme, the method has the following advantages:

the application provides an active disturbance rejection control method for a linear motor, which comprises the following steps: s1, after model identification is carried out on the precision motion system of the linear motor to obtain an identification model, model parameters of the identification model are obtained, a model extended state observer, an internal model PID feedback controller and a disturbance compensator are established according to the model parameters, and the precision motion system of the linear motor comprises a driver model; s2, the model extended state observer receives the actual position signal and the total control quantity sent by the precision motion system, and generates a position estimation signal and a total disturbance estimation signal according to the actual position signal and the total control quantity based on the model extended state observer equation set; s3, the internal model PID feedback controller generates an initial control quantity according to the instruction signal and the position estimation signal of the target position based on the initial control quantity calculation formula, and inputs the initial control quantity into the disturbance compensator; s4, generating a final control quantity according to the total disturbance estimation signal and the initial control quantity by the disturbance compensator based on a final control quantity calculation formula; and S5, after the driver model adjusts the position of the linear motor according to the final control quantity, judging whether the position of the linear motor is consistent with the target position, if so, stopping calculation, and otherwise, returning to the step S2.

According to the active disturbance rejection control method for the linear motor, firstly, model identification is carried out on a precision motion system of the linear motor comprising a driver model, so that parameters of a controlled object are pre-estimated; in order to further improve the estimation precision of the model extended state observer, the model extended state observer is designed according to the model parameters obtained through identification, so that the accurate estimation of the motion state and the total disturbance of the system is realized, and the control system has good anti-interference capability; then, based on the compensation of the total disturbance estimation signal by the disturbance compensator, the controlled object model is modified into a known nominal model form, an internal model PID feedback controller is designed according to the model, and the control parameters are adjusted through the parameters of an internal model filter, so that the parameter setting is simplified, and the good dynamic response performance is ensured; therefore, the technical problem that the linear motor cannot be controlled to move to an accurate position due to poor interference resistance of the existing active-disturbance-rejection control technology is solved.

Drawings

Fig. 1 is a schematic flow chart of an active disturbance rejection control method for a wire motor in a system according to an embodiment of the present application;

fig. 2 is a schematic flowchart of an embodiment of an active disturbance rejection control method for a wire motor provided in an embodiment of the present application;

fig. 3 is a graph comparing step responses obtained from simulation experiments of an active disturbance rejection control method for a linear motor and a conventional linear active disturbance rejection control method (larcd) provided in an embodiment of the present application;

fig. 4 is a graph comparing estimated curves of disturbance in step response of an active disturbance rejection control method for a linear motor provided in an embodiment of the present application with a conventional linear active disturbance rejection control method (lardc);

fig. 5 is a schematic structural diagram of an embodiment of an active disturbance rejection control apparatus for a wire motor provided in an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1 and fig. 2, an active disturbance rejection control method for a wire electric machine according to an embodiment of the present application includes:

step 101, performing model identification on a precision motion system of the linear motor to obtain an identification model, then obtaining model parameters of the identification model, and establishing a model extended state observer, an internal model PID feedback controller and a disturbance compensator according to the model parameters, wherein the precision motion system of the linear motor comprises a driver model.

It should be noted that, through model identification, a rough estimation can be performed on the parameters of the controlled object, so the present application first performs model identification on the linear motor precision motion system including the driver model, and designs the model extended state observer and the internal model PID feedback controller through the model parameter information obtained through identification. The driver model is used for driving and controlling the linear motor, so that the linear motor moves to a target position.

And 102, receiving the actual position signal and the total control quantity sent by the precision motion system by the model extended state observer, and generating a position estimation signal and a total disturbance estimation signal according to the actual position signal and the total control quantity based on the model extended state observer equation set.

It can be understood that the active disturbance rejection control method of the present application is a continuously adjusted process, and first, the model extended state observer receives an actual position signal and a total control quantity sent by the precision motion system, and generates a position estimation signal and a total disturbance estimation signal through the model extended state observer, where the position estimation signal is input to the internal model PID feedback controller, and the total disturbance estimation signal is input to the disturbance compensator.

It should be noted that the system of equations of the model extended state observer can be regarded as a model extended state observer, where the system of equations of the model extended state observer is:

wherein y is the actual position signal, u is the final control quantity, and z₁For position estimation signals, z₂For estimating the signal for velocity, z₃Estimate the signal for the total disturbance,/₁、l₂、l₃Are all the parameters of the observer,b₀are all identification parameter values.

And 103, generating an initial control quantity according to the command signal and the position estimation signal of the target position by the internal model PID feedback controller based on an initial control quantity calculation formula, and inputting the initial control quantity into the disturbance compensator.

It is understood that the internal model PID feedback controller receives the command signal of the target position and the position estimation signal sent by the model extended state observer to generate an initial control amount, and inputs the initial control amount to the disturbance compensator.

It should be noted that the initial control quantity calculation formula can be regarded as an internal model PID feedback controller, where the initial control quantity calculation formula is:

in the formula u₀Is an initial control quantityR is a target position command signal, k_p、k_i、k_dAre all control parameters, e (t) is the feedback error, z₁Is a position estimation signal.

It should be noted that, in this embodiment, the internal model filter of the internal model PID feedback controller is designed as a first-order inertia element or a second-order inertia element.

Wherein, the internal model filter of the first-order inertia link is:

wherein λ is_fThe filter parameters are obtained, and the setting rule of the control parameters is as follows:

in the formula, b₀、Are all the values of the identification parameter, k_p、k_i、k_dAre all control parameters, and s is a frequency domain variable.

Wherein, the internal model filter of the second order inertia link is:

wherein λ is_sThe filter parameters are obtained, and the setting rule of the control parameters is as follows:

in the formula, b₀、Are all identifiedValue of the parameter, k_p、k_i、k_dAre all control parameters, and s is a frequency domain variable.

And 104, generating a final control quantity according to the total disturbance estimation signal and the initial control quantity by the disturbance compensator based on a final control quantity calculation formula.

It can be understood that the disturbance compensator receives the initial control quantity input by the internal model PID feedback controller and the total disturbance estimation signal input by the model extended state observer to generate the final control quantity, and inputs the final control quantity into the precision motion system of the linear motor.

It should be noted that the final control amount calculation formula is:

wherein u is the final controlled variable, z₃Estimate the signal for the total disturbance, b₀To identify the parameter value u₀Is an initial control amount.

And 105, after the driver model adjusts the position of the linear motor according to the final control quantity, judging whether the position of the linear motor is consistent with the target position, if so, stopping calculation, and otherwise, returning to the step 102.

And (3) adjusting the position of the linear motor according to the final control quantity through a driver model of a precise motion system of the linear motor, judging whether the position of the linear motor is consistent with the target position, if so, stopping the calculation process, and otherwise, returning to the step 102 to continue calculating until the positions of the linear motor and the target position are consistent.

According to the active disturbance rejection control method for the linear motor, firstly, model identification is carried out on a precision motion system of the linear motor comprising a driver model, so that parameters of a controlled object are pre-estimated; in order to further improve the estimation precision of the model extended state observer, the model extended state observer is designed according to the model parameters obtained through identification, so that the accurate estimation of the motion state and the total disturbance of the system is realized, and the control system has good anti-interference capability; then, based on the compensation of the total disturbance estimation signal by the disturbance compensator, the controlled object model is modified into a known nominal model form, an internal model PID feedback controller is designed according to the model, and the control parameters are adjusted through the parameters of an internal model filter, so that the parameter setting is simplified, and the good dynamic response performance is ensured; therefore, the technical problem that the linear motor cannot be controlled to move to an accurate position due to poor interference resistance of the existing active-disturbance-rejection control technology is solved.

The above embodiments of the active-disturbance-rejection control method for the linear motor provided in the embodiments of the present application are described below as embodiments of specific implementation steps of the active-disturbance-rejection control method for the linear motor and the related apparatus provided in the embodiments of the present application.

In this embodiment, taking a motion system of a permanent magnet synchronous linear motor as an example, a dynamic model is first established:

wherein m, c and k are respectively moving mass, equivalent damping coefficient and servo stiffness of a permanent magnet synchronous linear motor motion system, and k is_mAnd the value is a force constant, x is the displacement of a permanent magnet synchronous linear motor motion system, and i is the current of the permanent magnet synchronous linear motor.

Since the servo bandwidth of the current loop in the driver model is much higher than the servo bandwidth of the position loop in the controller, the voltage-to-current relationship can be simplified to a proportional gain, i.e., for modeling convenience

i＝k_iu；

The transfer function is then expressed as:

the permanent magnet synchronous linear motor motion system can be simplified into a second-order motion system, and a perfect model of the system is assumed as follows:

then, the equation of the motion system of the permanent magnet synchronous linear motor can be expressed as:

wherein x is₁、x₂Respectively displacement and velocity, f (x)₁,x₂T) is the unknown disturbance inside the system, including nonlinear friction, unmodeled dynamics, etc., and w (t) is the unknown disturbance outside.

Step (1), carrying out model identification on a permanent magnet synchronous linear motor precision motion system including a driver model:

firstly, identifying a permanent magnet synchronous linear motor motion system including a driver model by a frequency domain response method of sine sweep frequency to obtain the following identification model:

wherein, b₀，Are the parameter values identified for the model.

Step (2), designing a model state expansion observer, and acquiring a position estimation signal and a total disturbance estimation signal of a permanent magnet synchronous linear motor precision motion system according to an input total control quantity and a fed back actual position signal:

the total disturbance of the precision motion system of the permanent magnet synchronous linear motor isMake the system state x expanded₃＝d_tAssuming that the total system disturbance is bounded and can be conducted, the precision motion system of the permanent magnet synchronous linear motor is expanded to:

and the model extended state observer is designed into the following form:

wherein z is_iWhere i is 1,2,3 is x respectively_iI is an estimated value of 1,2,3, l_iAnd i is 1,2 and 3 as an observation parameter, and the Ackerman formula is adopted for setting.

For an extended system, the state space is in the form of:

wherein the content of the first and second substances,

then, the setting rule calculated by using the Ackerman formula is as follows:

wherein, w₀To observe the bandwidth.

And (3) designing a disturbance compensator, and calculating to obtain a final control quantity according to the initial control quantity and the total disturbance estimation signal:

the disturbance compensator is first designed to:

wherein u is₀Is an initial control amount.

So that there is a possibility that,

therefore, the system is modified into a known model identification form through the model extended state observer and the disturbance compensator, and the model identification form is used as a nominal model according to the design of the controller.

Designing an internal model PID feedback controller, and calculating an initial control quantity according to a target position instruction signal and a position estimation signal;

the internal model PID feedback controller adopts a PID control form, and the control law is as follows:

where r (t) is the input position reference signal of the motor, k_p、k_i、k_dAnd setting by an internal model control principle for controlling parameters.

If the internal model filter is designed as a first-order inertia link:

wherein λ is_fFor the first order filter parameters, the transfer function of the internal model PID feedback controller is:

then, the setting rule of the control parameter is:

if the internal model filter is designed as a second-order inertia link:

wherein λ is_sFor a second order filter parameter, the transfer function of the internal model PID feedback controller is:

expansion using the maculing formula:

then, the setting rule of the control parameter is:

therefore, the design of the active disturbance rejection control method for the linear motor and the related device comprising the model extended state observer, the internal model PID feedback controller and the disturbance compensator is completed.

Fig. 3 is a comparison graph of step responses obtained from simulation experiments of the active disturbance rejection control method for the wire motor provided in the embodiment of the present application and a conventional linear active disturbance rejection control method (LADRC).

The model parameters obtained by the identification are assumed to be:

and selecting lambda_f＝0.0035,λ_s＝0.0015,w₀200, will be referred to as one of the present applicationCompared with the control effect of the conventional PID control and linear active disturbance rejection control method (LADRC), the order internal model filter (the first method of the present application) and the second order internal model filter (the second method of the present application) have better disturbance rejection capability through fig. 3.

As can be known from fig. 4, the active disturbance rejection control method for the linear motor provided by the present application has better disturbance estimation accuracy compared to the LADRC.

The above embodiments are specific implementation steps of an active-disturbance-rejection control method for a linear motor and a related device provided by the embodiments of the present application, and the following embodiments are specific implementation steps of an active-disturbance-rejection control device for a linear motor provided by the embodiments of the present application.

Referring to fig. 5, an active disturbance rejection control apparatus for a linear motor according to an embodiment of the present application includes:

the modeling unit 201 is configured to perform model identification on the precision motion system of the linear motor to obtain an identification model, obtain model parameters of the identification model, and establish a model extended state observer, an internal model PID feedback controller, and a disturbance compensator according to the model parameters, where the precision motion system of the linear motor includes a driver model.

The first calculating unit 202 is configured to receive the actual position signal and the total control quantity sent by the precision motion system through the model extended state observer, and generate a position estimation signal and a total disturbance estimation signal according to the actual position signal and the total control quantity based on the model extended state observer equation set.

And a second calculation unit 203 for generating an initial control quantity from the command signal of the target position and the position estimation signal through the internal model PID feedback controller based on an initial control quantity calculation formula, and inputting the initial control quantity into the disturbance compensator.

And a third calculating unit 204, configured to generate a final control quantity according to the total disturbance estimation signal and the initial control quantity based on a final control quantity calculation formula through the disturbance compensator.

And the analysis unit 205 is configured to determine whether the position of the linear motor is consistent with the target position after adjusting the position of the linear motor according to the final control quantity through the driver model, and if so, stop calculating, otherwise, trigger the first calculation unit.

According to the active disturbance rejection control device for the linear motor, firstly, model identification is carried out on a precision motion system of the linear motor comprising a driver model, so that parameters of a controlled object are pre-estimated; in order to further improve the estimation precision of the model extended state observer, the model extended state observer is designed according to the model parameters obtained through identification, so that the accurate estimation of the motion state and the total disturbance of the system is realized, and the control system has good anti-interference capability; then, based on the compensation of the total disturbance estimation signal by the disturbance compensator, the controlled object model is modified into a known nominal model form, an internal model PID feedback controller is designed according to the model, and the control parameters are adjusted through the parameters of an internal model filter, so that the parameter setting is simplified, and the good dynamic response performance is ensured; therefore, the technical problem that the linear motor cannot be controlled to move to an accurate position due to poor interference resistance of the existing active-disturbance-rejection control technology is solved.

Further, the embodiment of the present application also provides an active disturbance rejection control device for a linear motor, which is characterized in that the device includes a processor and a memory:

the memory is used for storing the program codes and transmitting the program codes to the processor;

the processor is used for executing the active disturbance rejection control method for the linear motor of the above method embodiment according to the instructions in the program code.

Further, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is configured to store a program code, and the program code is configured to execute the active disturbance rejection control method for a linear motor according to the above method embodiment.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.