一种简化的伺服系统干扰观测器设计方法

摘要

A new disturbance observer framework is proposed based on a Q- parameterization controller. Differently from conventional disturbance observer design methods, it has the remarkable feature that the command input response and the closed loop characteristics can be specified independently by using two parameters which belong to the controller and the observer. This servo system can greatly improve the characteristics of the closed loop systems, I. E. , the disturbance torque suppression performance and the robustness to system parameter variations or modeling uncertainties.%基于Q-参数化控制器,提出了一种新的干扰观测器结构,与传统的干扰观测器设计方法不同,通过使用两个分别属于控制器和观测器的参数,可以得到所需求的参考输入响应和闭环特征.该伺服系统能够显著提高闭环系统性能,如干扰转矩抑制性能和系统参数变化及模型不确定情况下的鲁棒性等.