Linear active disturbance rejection control of piezoelectric nanopositioning stage

被引：2
|
作者：
Wei W. [1 ]
Xia P.-F. [1 ]
Zuo M. [1 ]
机构：
[1] School of Computer and Information Engineering, Beijing Key Laboratory of Big Data Technology for Food Safety, Beijing Technology and Business University, Beijing
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2018年 / 35卷 / 11期
基金：
中国国家自然科学基金;
关键词：
Active disturbance rejection control; Hysteresis; Nanopositioning; Piezoelectric actuator;
D O I：
10.7641/CTA.2018.80348
中图分类号：
学科分类号：
摘要：
In piezoelectric driven nanopositioning systems, hysteresis severely degrades its positioning accuracy. A hysteresis inverse model based positioning approach is able to improve the accuracy. However, due to its large dependence on model, it cannot guarantee satisfied performance when internal and external disturbances exist. To address such problem, hysteresis is taken to be a kind of disturbance, a model independent control, i.e. active disturbance rejection control (ADRC), is designed. An extended state observer (ESO) is used to estimate hysteresis actively and compensate it by control signal in real time to ensure the positioning accuracy. The convergence of ESO and the stability of the closedloop system are analyzed. Relationship between control parameters of ADRC and the response of the system has been discussed. System response, integral of time-multiplied absolute-value of error (ITAE), mean absolute error (MAE) and root mean square error (RMSE) of PI control and ADRC have been compared. Both numerical and experimental results show that ADRC is superior to PI control. It confirms that ADRC can actively estimate hysteresis, internal uncertainties, and external disturbances. Those undesired issues can be cancelled before they reducing the positioning accuracy. Therefore, satisfied performance can be guaranteed. © 2018, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
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页码：1577 / 1590
页数：13
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