采用改进型扰动观测器的控制方法

提出一种适用于非最小相位对象的改进型扰动观测(DOB)结构.通过新增两个控制器,该结构不但对标称性能控制器输出进行动态补偿,而且还补偿了系统输出反馈信号.因此,基于新DOB的控制结构不但能在低频段很好的抑制外部干扰,消除实际被控模型摄动对闭环系统的输出性能的影响,更重要的是提高了抑制高频测量噪声的能力.最后,讨论了该控制结构的内部稳定性和鲁棒稳定性.     

Optimal control of non-minimum phase integrating processes with time delay using disturbance observer-based control scheme

A systematical design method of optimal control for non-minimum phase integrating processes with time delay using disturbance observer-based (DOB) control scheme is presented. All stabilising controllers and the filter of DOBs for integrating plants are developed. Then the optimal set-point tracking controller and the optimal filter of DOB are systematically derived by minimising the H₂ norm performance specifications. The proposed design method has three main advantages. First, the design procedure is systematical and simple. Specified weight functions are chosen for step inputs and inputs similar to steps. The designed set-point tracking controller and the filter of DOB are given in analytical forms. Second, the designed set-point tracking controller and the filter of the DOB are optimal. They are derived from minimising the performance indexes of set-point tracking and input load disturbance rejection (ILDR). Finally, the set-point tracking performance specification and ILDR specification can be quantitatively achieved by conveniently tuning the adjustable parameters. Numerical simulations are given to illustrate the effectiveness of the proposed method.     

Adaptive trajectory tracking control of wheeled mobile robots with disturbance observer

In this paper, the trajectory tracking problem for a wheeled mobile robot in the presence of kinematic and dynamic uncertainties has been addressed. Uncertainties are modeled as lumped disturbances. A kinematic controller based on feedback linearization approach and a dynamic controller based on model reference adaptive control are designed in the presence of disturbances. In order to ensure both robustness and implementability of the controllers, the disturbances are estimated by a generalized linear matrix inequality‐based disturbance observer. Simulation results show the effectiveness of the proposed method. Copyright © 2013 John Wiley & Sons, Ltd.     

CDMA EV—DO Re v.B技术和组网研究

CDMAEV—DO Rev．B（DOB）作为EV—DO Rev．A的后续演进方向,文章重点介绍了其关键技术、演进方式,分析了DOB引入的优势与风险。     

Extended disturbance observer for nonlinear system with time-varying disturbance gain

In control engineering, the disturbance is a major problem that deteriorates system robustness. To address this problem, a disturbance observer (DOB) has been proposed and developed. In particular, a general method of estimating high-order disturbance, expressed as a time series expansion, was studied (H-DOB). However, systems to which H-DOB are applicable are limited to those in which disturbance gain is constant. This constraint degrades the generality of H-DOB because applicable systems are limited. Therefore, by expanding to a system with a time-varying disturbance gain, we propose a more general H-DOB. The DOB proposed in this paper redesigns the dynamics of the observer based on the structure of the H-DOB. The proposed DOB is applicable even if the system is highly nonlinear. This paper verifies the convergence of the proposed DOB through proof. Using this proof, the same characteristic error dynamics can be obtained, so the same design method can be applied. The simulation for the verification of the proposed method performs disturbance estimation of the extension system. This simulation proves that, compared to H-DOB, the proposed DOB has good disturbance estimation performance.     

基于三阶干扰观测器的三轴MEMS陀螺稳定控制

微机电系统(Micro-Electro-Mechanic System,MEMS)陀螺仪是一种新兴的惯性传感器,然而在加工制造和现场应用过程中,MEMS陀螺不可避免地会受到外界干扰的影响,降低角速率检测精度。针对无法等效到输入通道且频率成分复杂的不匹配干扰,提出一种基于三阶干扰观测器的全局滑模控制方法。利用三阶干扰观测器估计频率成分复杂的不匹配干扰,在此基础上提出一种新的非线性滑模面实现滑动模态的全局鲁棒性,滑模面的可达性由指数趋近律保证。仿真结果表明了该基于干扰观测器的全局滑模控制器能够有效抑制不匹配成分,干扰估计误差由0.58降至0.18,且陀螺三轴位置响应呈现更小的超调。     

机载光电稳定平台的强鲁棒性滑模变结构控制

为使机载光电稳定平台系统在复杂环境下仍具有强鲁棒性,建立光电稳定平台数学模型.以两轴四框架光电吊舱为研究对象,通过分析噪声干扰及本身结构参数的变化对光电稳定平台的影响,提出基于干扰观测器(disturbance observer,DOB)的滑模控制器设计方案.理论推导和仿真结果表明:滑模变结构控制(sliding mode variable structure control,SMVSC)对干扰力矩和摄动完全适应,对系统结构参数变化和外界扰动具有良好的鲁棒性;比无干扰观测器的控制系统,拥有更高的稳定精度和更快的动态响应,能增强光电稳定平台的抗扰动能力.     

基于ZPETC和DOB的直线电机控制器设计及实验研究

直线电机驱动系统中存在的负载力、推力波动等干扰力会引起跟踪误差,降低跟踪性能。干扰观测器可以检测并补偿干扰,有效提高系统的抗干扰能力。前馈控制是提高系统跟踪性能的另一种方法,如直接速度前馈控制器、零相位误差跟踪控制器等,可以有效提高系统带宽,提高跟踪性能。针对直线电机在抗干扰和动态响应方面的需求,该文研究了基于直接速度前馈控制器、零相位跟踪控制器和干扰观测器的直线电机控制方法,并给出实验结果。结果表明,直接速度前馈控制器使位置能够无静地跟踪二阶指令输入,干扰观测器能够很好的抑制推力波动和摩擦力的影响,零相位跟踪控制器能够提高位置闭环带宽,改善跟踪性能,特别是三阶位置指令输入时的跟踪误差。     

变埋深条件下混凝土中爆炸加速度的传播规律

为了研究混凝土中不同埋深爆炸冲击质点振动加速度传播规律,运用量纲分析和自由场实验相结合的方法并引入等效当量系数的概念得出C30混凝土不同埋深爆炸冲击质点振动加速度预估公式。研究结果表明：对于C30混凝土,当装药比例埋深为0.25 m/kg1/3≤h≤1.0m/kg1/3时,随着装药比例埋深的增加,爆炸冲击质点加速度峰值随之增大,但加速度随比例埋深的衰减规律基本一致;对于不同强度的混凝土触地爆（h=0m/kg1/3）,随着混凝土强度的增大,爆炸冲击质点加速度峰值随之增大,加速度衰减规律基本一致;给出了C30混凝土不同埋深爆炸冲击质点振动加速度精度较高的预估公式。     

基于干扰观测器的龙门机床双驱系统的同步控制

根据动梁式龙门机床双驱动系统的结构特点及运动特性,基于拉格朗日方程,建立了龙门机床两轴之间的机械耦合模型,结合传动系统动态模型和伺服系统三闭环控制结构,得到了龙门机床双驱动系统模型;为了降低非对称结构和偏心负载等干扰对同步性能的影响,提高系统的抗干扰性,提出了一种基于干扰观测器（DOB）的双驱动系统同步控制方法;最后进行了仿真分析,仿真结果表明,通过干扰观测器对干扰进行补偿后,龙门机床双驱动系统的同步性能得到了明显的提高。