基于双观测器的伺服系统谐振抑制方法

Servo System Resonance Suppression Method Based on Double Observer

针对伺服系统谐振抑制和扰动影响之间的矛盾,提出了一种加速度观测和扰动观测相结合的方法。对采集的电流和速度进行低通滤波,利用Luenberger观测器观测电机的加速度并负反馈到电流给定;为了减少观测器的量化噪声对系统的影响,利用前馈PI调节速度偏差。在系统中引入转矩扰动观测器观测扰动转矩并正反馈到电流给定,解决了由于扰动而对谐振抑制带来的影响;在转矩扰动观测器中加入反馈调节系数,避免引发二次谐振。实验结果表明:将Luenberger观测器的负反馈控制和扰动观测器的正反馈相结合,可以大幅度降低机械谐振,同时提高了系统的动态响应和抗扰动性能。

Aiming at the conflict between resonance suppression and disturbing effect in the servo system resonance,a method combining acceleration observation and disturbance observation was proposed.The current and velocity were filtered by a low-pass filter.Then the acceleration of the motor was observed by Luenberger observer and negative feedback to the current given.In order to eliminate the influence of observer quantization noise on the system,the feed forward PI was used to adjust the speed deviation.The torque disturbance observer was introduced to observe the disturbance torque and feed it back to the current given in resonance system.It solves the influence on the resonance suppression because of the disturbance.The feedback disturbance factor was added to the torque disturbance observer to avoid inducing second resonance.The experimental results show that the combination of negative feedback control of Luenberger observer and positive feedback of disturbance observer can greatly reduce the mechanical resonance and improve the dynamic response and anti-disturbance performance of the system.