基于光电编码器的角加速度观测器设计

摘要

Acceleration information is often needed to realize the acceleration feedback control in modern servo control systems,while in the rotary motion form the observer algorithm based on motor model to estimate the angular velocity or angular acceleration is far less than the method to use an acceleration transducer.But the rotating accelerometer is high priced and restricts the application range because of its performance index.The article proposed an angular acceleration algorithm based on angular information measured by photoelectric encoder and model information of the observing object,which can estimate the acceleration of the servo control systems.It can also observe the angular rotation,angular velocity and severely changed angular acceleration with excellent effects which verified the robustness and feasibility through the hardware in the loop simulation based on RT-LAB platform.The proposed algorithm can also suit for servo systems which was not droved by motors and apply more widely,what's more,the low costs make it more suitable for engineering.%现代伺服控制系统中经常需要加速度信息来实现加速度反馈控制,在旋转运动形式的伺服系统中,通过基于电机模型的观测器算法估计出角速度或角加速度,其性能远远不及采用角加速度传感器直接测量的方法,而角加速度传感器又存在价格昂贵和技术指标适用范围窄的问题.论文提出了一种角加速度观测方案,利用光电编码器输出的角位移信号及观测对象的模型信息,估计出伺服系统角加速度,并通过RT-LAB实验平台进行硬件在回路仿真实验,能够实现对角位移、角速度和剧烈变化的角加速度的观测,效果良好,验证了算法的鲁棒性和精确性.论文提出的角加速度观测方案还可以应用于非电机驱动的伺服系统中,其适用范围更广,成本低,更适合工程应用.