Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (5): 1873-1878.doi: 10.13229/j.cnki.jdxbgxb20200720

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Measuring noise rejection of motion control system based on fractional BICO filter

Xin-xin SHI1(),Jia-cai HUANG2,Fang-zheng GAO1   

  1. 1.School of Automation，Nanjing Institute of Technology，Nanjing 211167，China
    2.Industrial Center，Nanjing Institute of Technology，Nanjing 211167，China
  • Received:2020-09-19 Online:2021-09-01 Published:2021-09-16

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Abstract:

In order to solve the problem that motion control performance is easily influenced by measuring noise of the feedback signal， a measuring noise rejection method of motion control system is proposed based on a fractional Bode’s ideal cut-off filter （BICO）. Characteristics of the fractional BICO filter are analyzed， and a linear motor trajectory tracking motion control system is constructed based on an extended state observer. Compared with the conventional low-pass filter and the control strategy without a filter， the trajectory tracking errors of the motion control system without payloads， with system parameter variations， and external disturbances are given respectively. Comparative simulation and experimental results illustrate that the fractional BICO filter can deal with the measuring noise effectively， and therefore the motion control accuracy is improved.

Key words: mechatronics engineering, Bode's ideal cut-off filter, fractional calculus, measuring noise, motion control

CLC Number: 

  • TP273

Fig.1

Comparative bode plots between BICO and LPF"

Fig.2

Bode plots of BICO filter with different orders"

Fig.3

Internal structure of linear motor"

Table 1

Parameter values of linear motor model"

项目数值
绕组电感L/mH4.42
绕组电阻R/Ω3.4
反电动势常数Ke/（Vs·m-1）18.01
力常数Kf/（N·A-1）18.01
运动质量m/g250

Fig.4

Motion control system of linear motor"

Table 2

Parameter values of contoller"

参数取值参数取值
h0.000 025β0140 000
b21.2β025 000 000
ω0100β0315 500 000
r1δ0.000 025
Kp34 000Kd100

Fig.5

Comparative simulation results under three control strategies without payloads"

Fig.6

Comparative simulation results under three control strategies with parameter variations"

Fig.7

Comparative simulation results under three control strategies with external disturbances"

Fig.8

Experimental setup of trajectory tracking motion control system of linear motor"

Fig.9

Comparative experimental results of trajectory tracking errors of linear motor"

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