改进型扰动观测器在伺服系统中的应用

Application of Improved Disturbance Observer in Servo System

工业环境中广泛存在的外部扰动是影响交流伺服系统性能的重要因素。该文以转矩反馈控制为基础,分析实际系统中速度检测延时会导致扰动观测器延时失配的问题,进而影响观测器的观测效果。通过对观测器输入进行延时匹配,同时增加延时补偿环节,改善观测器的观测效果,并提升观测器带宽,最后分析加入改进观测器后系统的参数鲁棒性。实验结果证明,改进的扰动观测器为系统的抗扰性能带来有效提升。

The external disturbance widely existing in industrial environment is an important factor affecting performanceof servo system. In this paper, based on torque feedback, the delay mismatch of observer resulting in speed delay wasanalyzed, which impacted on observer. Matching delay of input to observer and adding delay compensation were proposed toimprove the effectiveness and bandwidth of observer. Besides that, the parameter robustness of the system with improveddisturbance observer was analyzed. The experimental results prove that the improved disturbance observer has a good improvementin anti-disturbance performance.