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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Discrete-Time State Feedback With Velocity Estimation Using a Dual Observer: Application to an Underwater Direct-Drive Grinding Robot
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Discrete-Time State Feedback With Velocity Estimation Using a Dual Observer: Application to an Underwater Direct-Drive Grinding Robot

机译：使用双观测器进行速度估计的离散时间状态反馈：在水下直接驱动研磨机器人中的应用

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摘要

Hydro-Québec''s Research Institute has designed a robot to perform grinding tasks on underwater structures. This unique system is equipped with direct-drive linear motors, which have many useful dynamic characteristics. Since they lack intrinsic stiffness, however, their robustness to external disturbances must be achieved through the controller. Their lack of stiffness is a major disadvantage, because grinding generates very strong disturbance forces. Moreover, controller performance in such a system is limited by velocity feedback, which is usually derived from position encoder data. Though the state observer is recognized as an effective way to estimate velocity from position feedback without delay, it is not robust when applied to a system sensitive to external disturbances. The dual observer, which combines a state observer and a perturbation observer, aims to solve this problem. The simultaneous estimation of the state and disturbance not only improves state observer robustness, but also helps to compensate for disturbances in the controller. This paper presents the design of a discrete-time state-feedback controller with velocity estimation through a discrete-time dual observer. The design is validated by extensive comparative testing for a task that is as intensive as underwater grinding.
机译：魁北克水电研究院设计了一种机器人，可以在水下结构上执行研磨任务。这种独特的系统配备了具有许多有用的动态特性的直接驱动线性电动机。但是，由于它们缺乏固有的刚度，因此必须通过控制器实现其对外部干扰的鲁棒性。它们缺乏刚度是一个主要缺点，因为研磨会产生非常大的干扰力。而且，这种系统中的控制器性能受到速度反馈的限制，该速度反馈通常是从位置编码器数据中得出的。尽管状态观察器被认为是无位置延迟地根据位置反馈估算速度的有效方法，但将其应用于对外部干扰敏感的系统时，鲁棒性不强。双重观察者结合了状态观察者和摄动观察者，旨在解决这个问题。状态和干扰的同时估计不仅提高了状态观察者的鲁棒性，而且还有助于补偿控制器中的干扰。本文提出了一种具有离散时间双重观测器速度估计的离散时间状态反馈控制器的设计。该设计通过广泛的对比测试进行了验证，以完成与水下打磨一样艰巨的任务。

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