| 一种基于干扰观测器的伺服系统设计 |
| |
| 引用本文： | 张绍德,陈主成.一种基于干扰观测器的伺服系统设计[J].电子科技大学学报(社会科学版),2005(1). |
| |
| 作者姓名： | 张绍德 陈主成 |
| |
| 作者单位： | 安徽工业大学电气信息学院 安徽马鞍山243002
(张绍德)，安徽工业大学电气信息学院 安徽马鞍山243002(陈主成) |
| |
| 基金项目： | 安徽省高等学校科研计划资助项目(2001KJ030) |
| |
| 摘 要： | 将摩擦力的Stribeck曲线作为伺服系统的摩擦模型,提出用干扰观测器来补偿摩擦力对伺服系统低速运行的影响。在对象的名义模型正确条件下,干扰观测器和反馈控制器的设计可以分开独立进行。低频时,产生的系统特性类似名义模型的特性,并从理论上保证了被控对象参数不确定时的鲁棒性,同时摩擦对伺服系统输出的影响等于零。仿真实验表明了该控制策略的有效性。
|
| 关 键 词： | 摩擦 伺服系统 Stribeck曲线 干扰观测器 名义模型 |
Design Method for Servo-System Based on Disturbance Observer |
| |
| ZHANG Shao-de,CHEN Zhu-cheng.Design Method for Servo-System Based on Disturbance Observer[J].Journal of University of Electronic Science and Technology of China(Social Sciences Edition),2005(1). |
| |
| Authors: | ZHANG Shao-de CHEN Zhu-cheng |
| |
| Abstract: | The stribeck curve of friction is used for the friction model of the servo-system in this paper. The design method by using disturbance observer to compensate for influence of friction, which taken place when servo-system is run as low speed, is presented.The disturbance observer and the feedback controller can be designed independently as long as the nominal model is correct. For low frequencies the resulting system behaves like the nominal plant, robustness for paramenter uncertainty is therefore guaranteed in theory. As the same time, the influence of friction to servo-system output is equal to zero.The simulation results show the effectiveness of the proposed scheme. |
| |
| Keywords: | friction servo-system Stribeck curve disturbance observer nominal plant model |
| 本文献已被 CNKI 等数据库收录！ |
