基于李雅普诺夫函数法的扩张状态观测器参数优化

Speed Observation of Asynchronous Motor Based on Improved ESO

针对ESO参数不易整定的问题,研究了扩张状态观测器(ESO)参数优化的李雅普诺夫函数法.首先建立关于误差的线性定常状态方程和误差指标函数J,在误差指标函数J中综合考虑了跟踪误差的权重和系统的稳定性以及实际运行时的饱和值限制等因素.仿真结果表明,此方法具有概念清晰,实用简便,计算量小的优点.所提ESO参数整定方法是有效的.

In order to overcome the difficulties in parameter tuning of the extend state observer （ ESO）, Lyapunov functions are used to tune the ESO parameters. In the ESO parameter optimization process, at first we give a linear time-invariant （LTI） order systems about the error, an evaluation function is established to evaluate the index error, and both the controllers dynamic performance and the control input constraint conditions of the controlled objects are taken into account in the evaluation function. It is clear in concept and easy to use. Simulation results show that the presented ESO parameter tuning method is effective.