带有通信干扰观测器的时滞系统鲁棒性增强改进结构

K. Natori, K. Ohnishi
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引用次数: 5

摘要

提出了一种改进的通信干扰观测器(CDOB)时滞系统鲁棒性增强结构。提出了一种基于网络干扰(ND)概念和CDOB的时延补偿方法,并应用于各种时延系统。其有效性与史密斯预测器相同。此外,由于该方法在没有时滞模型的情况下补偿了时滞效应,因此即使在时滞值未知的情况下也能正常工作。然而,它对系统模型误差的鲁棒性存在问题。当系统存在模型误差时,会产生严重的稳态误差。本文提出了一种改进的结构,增强了CDOB时滞系统的鲁棒性。该结构增强了系统的鲁棒性,实现了零稳态误差。通过对时滞电机控制系统的实例分析,验证了该结构的有效性。此外,本文还讨论了该结构的稳定性和瞬态特性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A modified structure for robustness enhancement of time-delay systems with communication disturbance observer
This paper presents a modified structure for robustness enhancement of time-delay systems with communication disturbance observer (CDOB). A time-delay compensation method based on network disturbance (ND) concept and CDOB has been proposed and applied to various time-delay systems. The effectiveness is the same as Smith predictor. In addition, it works even when the value of time delay is unknown, since the method compensates time-delay effects without time-delay models. However, it has a problem of the robustness on system model errors. In case there are model errors of the system, serious steady-state error occurs. In this paper, a modified structure that enhances the robustness of time-delay systems with CDOB is proposed. The structure enhances the robustness and achieves zero steady-state error. The effectiveness of the proposed structure is presented by a case study of a time-delayed motor control system. In addition, this paper addresses stability and transient characteristics of the proposed structure.
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