一种用于改进运动控制系统周期扰动估计的无限阶积分扰动观测器

IF 1 4区工程技术 Q3 ENGINEERING, MULTIDISCIPLINARY

Journal of the Chinese Institute of Engineers Pub Date : 2023-04-03 DOI:10.1080/02533839.2023.2194923

Yu-Sheng Lu, Shang-Hao Chang

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引用次数: 0

摘要

针对运动控制系统中存在未知周期扰动的情况，设计了扰动观测器。在该方案中，利用所谓的积分扰动观测器的结构作为其误差反馈形式，并将重复学习控制理论应用于观测器设计，构成一个无限阶积分扰动观测器，以获得对周期扰动的增强估计。对不同扰动观测器进行了比较研究，并给出了实验结果，实际证明了所提方案的有效性。

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An infinite-order integral disturbance observer for improved estimation of periodic disturbances in motion control systems

ABSTRACT In this paper, a disturbance observer is devised for motion control systems suffering unknown periodic disturbances. In the proposed scheme, the structure of a so-called integral disturbance observer is utilized for its error-feedback form, and the repetitive learning control theory is applied to the observer design, constituting an infinite-order integral disturbance observer to obtain an enhanced estimation of a periodic disturbance. A comparative study of different disturbance observers is performed, and experimental results are reported, practically showing the effectiveness of the proposed scheme.

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来源期刊

Journal of the Chinese Institute of Engineers 工程技术-工程：综合

CiteScore

2.30

自引率

9.10%

发文量

审稿时长

6.8 months

期刊介绍： Encompassing a wide range of engineering disciplines and industrial applications, JCIE includes the following topics: 1.Chemical engineering 2.Civil engineering 3.Computer engineering 4.Electrical engineering 5.Electronics 6.Mechanical engineering and fields related to the above.