基于干扰观测器的鲁棒高精度转速估计方法

Robust high precision rotational speed estimation method based on disturbance observer

动态转速的高精度测量是高性能运动控制中的重要问题,尤其对于低速运动情况.针对该问题,提出一种新型实时转速估计方法,对系统外部扰动和建模误差,采用扰动观测器进行估计,再将其输出引入转速观测器,从而保证转速估计的收敛性,并增强其鲁棒性.以直流高精度伺服系统为例,进行了仿真和实验研究,结果表明该方法有效,鲁棒性强,且对角位置量化噪声不敏感.

High precision measurement of dynamic rotational speed is the key problem for high performance motion control systems, especially for the low speed cases. For this problem, a novel real time estimation method of rotation speed was proposed. A disturbance observer was adopted to estimate the equivalent external disturbance and modeling error, and its output was introduced to the rotation speed observer as an input, which guaranteed convergence of estimation and enhanced the robustness. Finally simulation and experiments were conducted for a DC motor servo system. The results show this method is effective and robust, and it is insensitive to quantlzatlon noise.