角加速度边界层观测器设计

Design of an angular acceleration boundary observer

摘要:

针对机电系统中存在的非线性摩擦、干扰力矩和负载变化等不确定因素,以离散角位置输出作为观测器的输入信号,研究基于滑模控制的角加速度边界层观测器设计方法.在详细分析边界层观测器结构基础上,通过设计滑动模态,给出观测器控制量的确定方法,并分析影响观测器性能的主要参数及其设计原则,结合具体的机电控制系统,设计角加速度边界层观测器.实验结果表明,在非线性扰动条件下,设计的角加速度边界层观测器可实现角加速度信号的快速准确估计.

Abstract:

Aimed at the nonlinear friction,disturbance torque and load variation in typical mechanical-electrical servo systems,by considering discrete-time output signals of angular position sensor as the observer input,the design of an angular acceleration boundary observer design is presented using sliding-mode control method.Based on the analysis of the structure of the boundary observer,we propose a method to determine the control input by designing the sliding mode.Furthermore,the key performance parameters and the design principle are provided.For a practical mechanics system,the designed angular acceleration observer exhibits the excellent dynamical performance under the nonlinear disturbance.