Active Compensation of Disturbance of X-Y Motion Platform Based on LADRC

Permanent magnet synchronous linear motor (PMLSM) has excellent performance and wide application, but its special structure makes it sensitive to external disturbance. This paper aims at the disturbance problem of X-Y motion platform driven by PMLSM under actual operating conditions. In the cross-coupling control strategy, the input command is compensated by the coupling control quantity between axes, and the linear active disturbance rejection controller (LADRC) is applied to the position loop in the three-loop control strategy to suppress the external disturbance and reduce the influences caused when the coupling control quantity is compensated to the uniaxial servo system. Finally, it is verified by Simulink. The simulation results show that the LADRC-based disturbance compensation method has better dynamic performance than the traditional cross-coupling control, and the contour control accuracy is higher.