非线性观测器用于高精度甚低速系统的动态补偿

A Nonlinear Observer for Dynamic Compensation of Systems of High Accuracy and Very Low Speed

本文针对非线性动态摩擦设计了非线性观测器,以便从输入输出数据观测出非线性摩擦的大小,并对其进行补偿。文中把方块脉冲函数应用到该非线性观测器,导出一个简单的递推算法,易于微机在线实现。本文将所设计的非线性观测器用于甚低速伺服系统,仿真结果令人满意。

In this paper a nonlinear observer is designed for the nonlinear system with nonlinear dynamic friction so that the nonlinear dynamic friction can be estimated using the input and output data and then be compensated. A recursive formula of the nonlinear observer is derived by using the blok pulse function which can be easily implemented on-line with microcomputer. The designed nonlinear observer is applied to high accuracy and very low speed system, the simulation result is quite safisfactory.