The Design of a Tracking Controller for Flexible Ball Screw Feed System Based on Integral Sliding Mode Control with a Generalized Extended State Observer

Abstract

This article proposes a servo control strategy for compensating matched and mismatched perturbations in flexible ball screw feed systems to improve their tracking performance. The perturbations that satisfy or dissatisfy the matching conditions include external disturbances, parameter uncertainties, and unmodeled dynamics. The flexible ball screw feed model includes both a rigid body and first-order axial structural dynamics. A generalized extended state observer is adopted to observe the matched and mismatched perturbations and various state variables of the system, and an improved integral sliding mode controller is proposed that can simultaneously compensate for the perturbations of the system that satisfy and dissatisfy the matching conditions. In addition, vibration compensation is designed for first-order axial vibration of the system to develop a controller that can quickly and accurately track the ideal reference trajectory, suppress system structural vibrations, and be robust to time-varying uncertainties and external disturbances. Finally, the tracking performance, anti-interference performance, and vibration suppression performance of the designed controller are verified via simulation and comparative experiments.