CAJ | 학술논문

针对反作用力矩测试系统的力矩控制问题,提出了基于干扰观测器的鲁棒控制方法。首先根据反作用力矩测试系统的工作原理,在位置单闭环的基础上引入了干扰观测器,对被测力矩进行估计。其次在此基础上建立了加入干扰观测器的系统的数学模型,提出了一种干扰观测器的近似设计方法。仿真和实验表明,干扰观测器能够提高系统的抗扰性和动态特性。同时通过近似方法设计的干扰观测器易于实现,亦能达到改善控制系统性能的目的。
침대반작용력구측시계통적력구공제문제,제출료기우간우관측기적로봉공제방법。수선근거반작용력구측시계통적공작원리,재위치단폐배적기출상인입료간우관측기,대피측력구진행고계。기차재차기출상건립료가입간우관측기적계통적수학모형,제출료일충간우관측기적근사설계방법。방진화실험표명,간우관측기능구제고계통적항우성화동태특성。동시통과근사방법설계적간우관측기역우실현,역능체도개선공제계통성능적목적。
A novel robust control method based on disturbance observer （DOB） is presented, in order to achieve high performance control specifications for the torque measurement servo system. First, a position closed loop control system is established according to working principle of the torque measurement system. In order to estimate the measured torque, the DOB is added to the position closed loop control system. Next, a mathematical model of the DOB system is built. And an approximate design method for DOB is put forward. Simulation and experimental results show that, through the DOB added to the system, position interference rejection and torque dynamic performance of the system are increased. And the DOB can be easily designed through the approximate method; also it can improve the performance of the control system.