摘要
利用扰动观测器减弱系统的量测噪声和外部扰动,利用抗漂移的状态反馈控制器来减弱驱动饱和的影响,将这两种策略综合用于伺服控制器的设计并重点对这种方案进行了仿真对比研究。仿真结果表明基于扰动观测器的伺服系统在扰动及量测噪声不大,且系统模型参数变化不大的情况下具有较高的动态性能及较高的跟踪精度并能克服饱和约束的不良影响。
To make the system robust to plant model uncertainties, a disturbance observer is used to eliminate the noise and external disturbance. An anti-windup state feedback controller is proposed to solve the problem in which most of the existing anti-windup schemes can not guarantee the asymptotic closed-loop. The synthesize of the two strategy is used in the servo system controller design and comparison simulation test is carried out. The simulation results show that the controller with this method has high dynamic performance and tracking accuracy even for the systems subjected to actuator saturation while the model-plant mismatch satisfies the stability condition
出处
《系统仿真学报》
CAS
CSCD
2004年第8期1825-1827,共3页
Journal of System Simulation
基金
国家高技术研究发展计划(863计划)重大专项项目(2003AA501100)。
关键词
扰动观测器
抗漂移
状态反馈控制
伺服系统
disturbance observer
anti-windup
state feedback control
servo system
