带广义扩张状态观测器的柔性 滚珠丝杠进给系统LQR控制.

To improve the tracking performance of ball screw drive systems, the linear quadratic regulator(LQR) control with generalized extended state observer(GESO) was adopted. The state equation and the transfer function of two degrees of freedom mass model were established based on ball screw drive system with axial vibration characteristics. A LQR controller was designed according to the state equation of the model. To eliminate the matched and mismatched external disturbances of system and to suppress the noise interference of feedback, the generalized extended state observer was designed. The performance of the designed controller was verified by simulations and comparison experiments. The simulation and comparative experiment results show that the designed LQR controller with generalized extended state observer designed has high tracking accuracy and can suppress external interference and feedback noise to guarantee the robustness of feed system. [ABSTRACT FROM AUTHOR]