Development of dual feedback Active Disturbance Rejection Control driver

Friction is the main reason that affects the accuracy of the mechanical bearing positioner. The rigid-flexible coupling stage adopts an active disturbance rejection control strategy that regards elastic vibration as a disturbance. It can convert unmeasurable friction into easily measurable elastic deformation to ensure the positioning of the micro-stage accuracy. When the Active Disturbance Rejection Control (ADRC) algorithm is used to deal with the errors caused by mass manufacturing and the geometric nonlinearity of large deformations, dual-channel synchronous feedback and low-delay disturbance calculation compensation are required. Therefore, this article develops a hybrid ARM+FPGA architecture active disturbance rejection control driver for the rigid-flexible coupling stage's needs. The integrated drive and control system includes FPGA to realize dual-channel synchronous feedback, ARM to realize position loop, speed loop, active disturbance rejection calculation, and Intelligent Power Module(IPM) to realize current amplification. FPGA has the characteristics of high-speed real-time data acquisition and parallel work, which can realize dual-channel real-time synchronous feedback. Coupled with ARM's powerful computing and flexible control capabilities, the active disturbance rejection control driver of the hybrid ARM+FPGA architecture can meet the control needs of the rigid-flexible coupling stage. This paper verifies the feasibility of the drive system scheme by controlling the rotary stage and the motor.