基于未知动态观测器双惯量伺服系统低频主动谐振抑制
Low frequency active resonance suppression based on unknown dynamics estimator for dual inertia servo systems
摘要点击 507  全文点击 71  投稿时间:2020-04-11  修订日期:2020-08-17
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DOI编号  10.7641/CTA.2020.00193
  2020,37(12):2535-2542
中文关键词  双惯量伺服系统  未知扰动观测器  谐振抑制  滑模控制
英文关键词  dual-inertia servo systems  unknown disturbance observer  resonance suppression  sliding mode control
基金项目  国家自然科学基金项目(61803216, 61973036), 山东省自然科学基金项目(ZR2018BF022), 中国博士后基金面上项目(2019M650159)资助.
作者单位E-mail
王树波 青岛大学 wangshubo1130@126.com 
李冬伍 北京无线电测量研究所  
任雪梅 北京理工大学  
中文摘要
      针对双惯量伺服系统存在的机械谐振, 本文提出了一种基于扰动观测器的滑模主动低频谐振控制方法. 利 用可测量的电机端的位置信号, 对其进行滤波操作得到位置的滤波变量, 根据不变流形原理设计未知扰动观测器, 实现对传递力矩的在线估计, 并将估计值融入到控制器设计中对其进行补偿. 为了消除传统滑模存在颤振现象, 基 于正切函数提出了一种新颖滑模面设计方法. 在此基础上, 设计了滑模控制器实现了对期望信号的准确跟踪, 并利 用李雅普诺夫稳定性理论证明了闭环系统稳定性. 最后通过实验对比, 验证了本文提出的控制策略有效性, 此外该 算法建构简单不需要计算电机加速度的信息, 利于在实际中应用.
英文摘要
      In this paper, an active resonance suppression method based on unknown dynamics estimator is developed for dual inertia servo systems. The first-order low-pass filter of the motor position is obtained via filtering operation. Then, the unknown disturbance observer is designed based on an invariant manifold to estimate the unknown the transfer torque which is compensated in the control design. To eliminate the chattering problem, a novel reaching law is designed based on hyperbolic functions is proposed to guarantee that the sliding mode surface infinitely method to the equilibrium point. A sliding mode control based on the unknown disturbance estimator proposed to achieve the precise position tracking. The closed-loop control system stability is proved using Lyapunov stability theory. Finally, Comparative experimental results based on a test-rig dual inertia system are provided to show the effectiveness and superior performance of the proposed control scheme. Moreover, the proposed control method has a simple structure and does not need the acceleration information of motor. It is easy to be implemented in practice.