谐波减速器低速伺服系统中基于双速度环控制器的DOBC算法

Proceedings of the 2020 2nd International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2020-10-17 DOI:10.1145/3438872.3439061

Pengfei Liu, Tian Chen, Wei Qi, Weilin Gao

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引用次数: 1

摘要

为了改善带谐波减速器的低速伺服系统的扰动性能，减轻控制器的负担，提出了一种基于双速控制器的DOBC算法，给出了该算法的设计方法和李雅普诺夫稳定性的证明。该算法通过扰动观测器对扰动进行估计，并对控制器进行前馈补偿。

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A DOBC algorithm based on double speed loops controller in low-speed servo system with harmonic reducer

In order to improve the disturbance performance of low-speed servo system with harmonic reducer and reduce the burden of the controller, a DOBC algorithm based on double speed controller is proposed and the design method and the proof of Lyapunov stability are given in this paper. The algorithm estimates the disturbances through the disturbance observer and provides feedforward compensation for controller.

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Proceedings of the 2020 2nd International Conference on Robotics, Intelligent Control and Artificial Intelligence

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