直线电机运动控制中的干扰观测器的研究

Research on Disturbance Observer for Linear Motion Control

提出了改进型干扰观测器结构。该结构提供了更多可以调节的参数 ,这在一定程度上缓解了系统抗干扰性能与鲁棒稳定性之间的矛盾 ;另外在应用于计算机控制时 ,该结构相当于直接离散设计 ,因此对于非连续的干扰也能抑制。以直线电机驱动的高速高精度运动平台为实验系统 ,对传统干扰观测器和改进型干扰观测器进行了比较 ,实验结果表明 ,后者具有更好的动特性和更强的鲁棒性 。

In order to improve the performances of the ordinary disturbance observer, this paper proposed an improved disturbance observer structure, which prossessed more parameters to be adjusted, and was the same as directly discrete design when realized in computer. Two disturbance observers were applied to a high speed high accurate table driven by linear motor. Experimental results demonstrate that the improved disturbance observer have better performances of dynamic tracking and robustness.