...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >A sensitivity optimization approach to design of a disturbance observer in digital motion control systems
【24h】

A sensitivity optimization approach to design of a disturbance observer in digital motion control systems

机译：数字运动控制系统中扰动观测器设计的灵敏度优化方法

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper is concerned with a digital design methodology for the disturbance observer. The controller (disturbance observer) is designed such that the system sensitivity function is made to match a chosen target sensitivity function by numerical optimization. One advantage of the proposed design method is that the tradeoff between command following, disturbance suppression, and measurement noise rejection is made transparent in the process of the control system design. This allows the system designer to bypass the effort of obtaining a highly accurate system model. Another aim of this research, relative to previous works, is to study how the design specifications can be best structured in the digital filter (a main component of the disturbance observer) for easy implementation. The robust feedback controller, designed in the velocity loop, is used in conjunction with a feedback controller located in the position loop and a feedforward controller acting on the desired output to construct a control structure for high-speed/high-accuracy motion control. Simulation and experiments applied to a high-speed XY table designed for micro positioning demonstrate the effectiveness of the proposed controller.
机译：本文涉及扰动观测器的数字设计方法。设计控制器（干扰观察者），以便通过数值优化使系统灵敏度函数与选定的目标灵敏度函数匹配。所提出的设计方法的一个优点是，在控制系统设计过程中，命令跟随，干扰抑制和测量噪声抑制之间的权衡是透明的。这使系统设计人员可以绕过获得高精度系统模型的工作。相对于先前的工作，本研究的另一个目的是研究如何在数字滤波器（干扰观测器的主要组成部分）中以最佳方式构造设计规范，以便于实施。在速度环中设计的鲁棒反馈控制器与位于位置环中的反馈控制器和作用于所需输出的前馈控制器结合使用，以构建用于高速/高精度运动控制的控制结构。应用于微定位的高速XY工作台的仿真和实验证明了该控制器的有效性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号