Discrete-time disturbance observer design for systems with time delay

C. Kempf, S. Kobayashi
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引用次数: 29

Abstract

In many engineering systems, time delay is present or can be used to approximate phase loss at high frequencies. In such situations, existing disturbance observer design techniques encounter difficulties due to bandwidth limitations or relative degree restrictions on disturbance observer filtering. These problems can be avoided by a straightforward inclusion of time delay in the nominal plant model. As a result, the disturbance observer sensitivity function is degraded, but this is offset by the fact that higher bandwidth low pass filtering can be used. Importantly, input-output characteristics of the disturbance observer loop better approximate the nominal plant model, thus improving noise rejection and simplifying the subsequent design of outer loop compensation and feedforward filtering. The technique is applied one axis of a high speed X-Y table. Simulation and experimental results demonstrate the effectiveness of the technique.
时滞系统的离散扰动观测器设计
在许多工程系统中,时间延迟是存在的,或者可以用来估计高频的相位损失。在这种情况下,现有的干扰观测器设计技术由于带宽限制或干扰观测器滤波的相对程度限制而遇到困难。这些问题可以通过在标称工厂模型中直接包含时间延迟来避免。因此,干扰观测器的灵敏度函数会降低,但这可以通过使用更高带宽的低通滤波来抵消。重要的是,扰动观测器回路的输入输出特性更好地近似于标称植物模型,从而提高了噪声抑制能力,简化了后续外回路补偿和前馈滤波的设计。该技术应用于高速X-Y表的一个轴。仿真和实验结果验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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