| 引用本文: | 邓红星,王宪彬,刘咔.角加速度边界层观测器设计[J].哈尔滨工业大学学报,2010,42(9):1504.DOI:10.11918/j.issn.0367-6234.2010.09.032 |
| DENG Hong-xing,WANG Xian-bin,LIU Ka.Design of an angular acceleration boundary observer[J].Journal of Harbin Institute of Technology,2010,42(9):1504.DOI:10.11918/j.issn.0367-6234.2010.09.032 |
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| 摘要: |
| 针对机电系统中存在的非线性摩擦、干扰力矩和负载变化等不确定因素,以离散角位置输出作为观测器的输入信号,研究基于滑模控制的角加速度边界层观测器设计方法.在详细分析边界层观测器结构基础上,通过设计滑动模态,给出观测器控制量的确定方法,并分析影响观测器性能的主要参数及其设计原则,结合具体的机电控制系统,设计角加速度边界层观测器.实验结果表明,在非线性扰动条件下,设计的角加速度边界层观测器可实现角加速度信号的快速准确估计. |
| 关键词: 角加速度估计 观测器 滑模控制 |
| DOI：10.11918/j.issn.0367-6234.2010.09.032 |
| 分类号:TP273 |
| 基金项目: |
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| Design of an angular acceleration boundary observer |
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DENG Hong-xing1, WANG Xian-bin1, LIU Ka2
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1.Traffic College,Northeast Forestry University,Harbin 150040,China;2.School of Astronautics,Harbin Institute of Technology,Harbin 150080,China)
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| Abstract: |
| Aimed at the nonlinear friction,disturbance torque and load variation in typical mechanical-electrical servo systems,by considering discrete-time output signals of angular position sensor as the observer input,the design of an angular acceleration boundary observer design is presented using sliding-mode control method.Based on the analysis of the structure of the boundary observer,we propose a method to determine the control input by designing the sliding mode.Furthermore,the key performance parameters and the design principle are provided.For a practical mechanics system,the designed angular acceleration observer exhibits the excellent dynamical performance under the nonlinear disturbance. |
| Key words: angular acceleration estimation observer sliding-mode control |
