基于速度信号的扰动观测器参数整定

Parameter Tuning Rule for Velocity Based Disturbance Observer

由于速度信号的扰动观测器能够实时准确地估计干扰,使得观测器的控制方法无需被控对象精确数学模型而具有良好的控制性能。扰动观测器的核心是滤波器,参数整定直接影响扰动观测器对扰动的估计性能,是扰动观测器控制方法的关键和难点。针对滤波器参数整定问题,以常用的一阶低通滤波器为研究对象,增加可调参数的自由度,利用数值方法研究低通滤波器各参数对扰动估计性能的影响规律,所得结果具有普遍意义,可为扰动观测器参数整定提供有益参考。

Volocity based disturbance observer is able to estimate the disturbance accurately, which makes the disturbance observer based control （DOBC） approaches be independent of the faithful model of controlled system and behave good performance. Filter is the key part of the disturbance observer. Parameters tuning of the filterwhich determines the performance of the disturbance observer, to a great extent,, is the core and difficult problem in DOBC. For the parameter tuning rules of filters, our work was based on the first-order low-pass filter. The number of the tunable parameters of the filter was added, and the relationship between the parameters of the low-pass filter and the disturbance estimation performance were studied by numerical simulations. Conclusions are common, which can be a valuable reference for engineers and researchers.