角加速度边界层观测器设计

邓红星¹, 王宪彬¹, 刘咔²

1.东北林业大学交通学院;2.哈尔滨工业大学航天学院



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:



Design of an angular acceleration boundary observer

DENG Hong-xing¹, WANG Xian-bin¹, LIU Ka²

1.Traffic College,Northeast Forestry University,Harbin 150040,China;2.School of Astronautics,Harbin Institute of Technology,Harbin 150080,China)

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