一种二阶系统最优Q滤波器DOB设计方法研究

对一种新的系统化的最优Q滤波器干扰观测器(Disturbance Observer DOB)的参数设计方法进行研究,它用来校正二阶系统的外界干扰输入和一定范围内的系统不确定性.基于控制系统结构的变形、Q滤波器特性的分析和综合、最优参数和偏好参数的选取以及超前补偿器的设计,这种方法可以直接设计出一组相对于干扰-输出传递函数特性的最接近理论最优解的实际最优控制器参数.应用这种最优Q滤波器DOB,对于系统不确定性的适应和对外界干扰的抑制的要求都能很好的满足,并且通过系统仿真更验证了这一设计方法.

An optimal novel disturbance observer Q-filter parameterization method for second-order servosystems

A novel systematic method of optimal Q-filter disturbance observer parameterization has been proposed to regulate an uncertain second-order servo system with external disturbance.Based on the variant in structure of the control system,analysis and synthesis on Q-filter characteristics,optimal parameterization and lead compensator design,an actual optimal controller that is closest to the theoretical optimal one can be directly parameterized through this method according to the disturbance-output transfer fu...