Luenberger速度观测器在同步运动控制中的应用

摘要

根据Luenberger观测器原理,在运动控制系统中建立速度观测器,并使用观测速度作为同步运动运动控制系统的闭环控制反馈信号,有效解决由传感器引入的相位延迟和噪声对系统性能产生的影响.通过在Simulink中对系统建模仿真,验证了此同步运动控制系统具有更高的信号响应能力和抗扰动性能.最后,在以TI公司DSP6722为核心的硬件平台上实现速度观测器算法.实验结果表明,Luenberger观测器可以较为精确地观测速度信号,为同步运动控制系统性能提供可靠保障.%The paper introduces a new type of synchronous motion control system. The velocity, which is from the Luenberger observer, is used as closed - loop feedback signal that avoids the phase delay and noise introduced by the sensor effectively. The simulation results show that the control system has better command response and disturbance response because of the velocity observed feedback. The synchronous motion control algorithm is performed on TMS320C6722B.