Modified Composite Nonlinear Active Disturbance Rejection Control Method for Linear Motion Platforms in High-Speed Wire Bonding Machines

The linear motion platform of the high-speed wire bonding machine exhibits characteristics of strong coupling, significant nonlinearity and uncertainty. In contrast, traditional control methods suffer from problems such as poor control accuracy and insufficient anti-interference performance. To tackle this problem, this paper proposes a composite nonlinear active disturbance rejection control method based on disturbance estimation and compensation. First, a mathematical model of the linear motion platform is established. Based on this model, a Phase Advance Reduced-order Extended State Observer (PARESO) is designed. This PARESO can precisely estimate the motion states and the unknown total disturbance of the controlled system. Subsequently, by compensating for the estimated total disturbance in real-time, the uncertain linear motion platform system is transformed into an accurate nominal model system. Finally, a Modified Composite Nonlinear Feedback (MCNF) control structure is designed based on the nominal model. This MCNF control structure consists of a linear controller that tunes control parameters through the internal model principle and a nonlinear controller based on the non-positive nonlinear function. Simulation and experimental results show that, compared with existing control methods, the proposed MCNF-PARESO method can effectively reduce overshoot, shorten the settling time, and has a strong ability to suppress disturbances. Therefore, the method proposed in this paper can be applied to the linear motion platform of the high-speed wire bonding machine to achieve high-performance control.