Quasi-Resonance Linear Active Disturbance Rejection-Based Control Method of Linear-Rotary PM Motors for Electric-Driven Agricultural Equipment Application

Electric-driven agricultural machinery is one of the effective means to achieve precise and efficient agricultural farming and green sustainable agriculture. The Linear-rotary (LR) motion is a common mode of farming drive requirement in agricultural machinery equipment. Currently, the linear-rotary permanent magnet (LRPM) motors with linear, rotary, and helical motions feature the merits of integrated structure and high material utilization due to the absence of the intermediate mechanical devices which has broad application prospects in the field of two-degree-of-freedom drive for agricultural machinery preparation. Yet, the LR motors always suffer from the coupling effect, which causes the low driving accuracy with large speed, torque, and thrust ripple. This paper proposes a decoupling and ripple suppression control method with the quasi-resonant linear active disturbance rejection controller (QR-LADRC). A stator excited LRPM motor is selected as the research objective. Based on the analysis of the flux coupling effect, the variable combination modes of the QR-LADRC controller are designed and analyzed in detail which is compared with the traditional LADRC. The simulation and experiments are conducted, and the results show that the control method can not only suppress the periodic ripple and reduce the position error of the LRPM motor, but also does not worsen the dynamic response ability.