音圈电机离散自抗扰控制算法的研究
Research on Discrete Active Disturbance Rejection Control Algorithm of Voice Coil Motor

本文针对三维激光扫描动态聚焦系统中音圈电机高精度运动控制的需求，以音圈电机为研究对象，提出一种基于降阶线性扩张状态观测器(RLESO)的离散自抗扰控制(DADRC)算法。文中首先对音圈电机的结构和驱动原理进行了分析，并推导了数学模型。其次根据自抗扰控制(ADRC)算法，设计了RLESO，在保证扰动观测能力的同时降低了计算复杂度。然后结合比例–微分(PD)控制策略与前向欧拉离散化方法，使控制算法高效易行。最后通过在Matlab/Simulink仿真平台进行实验，表明该算法在阶跃响应与位置跟踪中表现出优越的动态性能与抗干扰能力，具有较强的鲁棒性，为音圈电机伺服系统运动控制提供了新方法。
Aiming at the demand of high precision motion control of voice coil motor in 3D laser scanning dynamic focusing system, a discrete active disturbance rejection control (DADRC) algorithm based on reduced order linear extended State Observer (RLESO) is proposed in this paper. Firstly, the structure and driving principle of the voice coil motor are analyzed, and the mathematical model is derived. Secondly, RLESO is designed according to the ADRC algorithm, which can ensure the ability of disturbance observation and reduce the computational complexity. Then the proportional differentiation (PD) control strategy and the forward Euler discretization method are combined to make the control algorithm efficient and easy. Finally, experiments on Matlab/Simulink simulation platform show that the algorithm has superior dynamic performance and anti-interference ability in step response and position tracking, and has strong robustness, which provides a new method for motion control of voice coil motor servo system.