关键词: 磁悬浮平台, 精密定位, 直线电动机, 自抗扰, 变形映射, 超限插值, 多轴铣削, 工序模型

Abstract: A novel planar magnetic suspension platform is introduced. In view of the horizontal movement of the magnetic suspension platform being a nonlinear, multivariable and strong coupling system, an improved active disturbance rejection controller (ADRC) is proposed. It can overcome the unsmoothness of non-linear function in nonlinear state error feedback (NLSEF) of conventional ADRC, and a set of effective rules of setting controller parameters is explored. Moreover, the internal disturbance and external disturbance are observed by using the extended state observer (ESO) and then compensated. The results of simulation and experiment indicate that the improved controller has excellent dynamic and static characteristics and robustness.

Key words: Auto-disturbance rejection controller(ADRC), Linear motor, Magnetic suspension platform, Precision positioning, The morphing technology, The process model, Transfinite interpolation, Muti-axis milling