基于观测器的伺服系统反馈线性化控制

基于重载且负载大范围变化的伺服系统提出高精度数学模型,建立扩展卡尔曼观测器对速度和模型中参数进行观测,使用基于模型的反馈线性化方法准确地将模型线性化,并使用线性控制方法设计高精度控制器。该策略的应用不但避免了传感器的测量时带来的误差,同时,在参数准确的条件下能够得到更高的控制精度。仿真实验结果表明:运用所设计的基于扩展卡尔曼观测器的反馈线性化控制策略不仅能够准确地对速度状态和参数进行观测,同时系统在跟踪性能方面也取得了较好的结果。

A Feedback Linearization Control of Overload Servo System Based on Observer

The high precision mathematical model of the servo system with heavy loads and large range changes is proposed.An extended Kalman observer(EKO)is established to observe the velocity and the parameters in the model.The model is linearized accurately by using the feedback linearization method,and the high precision control strategy is built by using the linear control method.When the feedback control laws are applied in the systems,the measurement errors from the sensors can be avoided and the better tracking performance can be obtained.The simulation results show that EKO can not only accurately estimate the speed and parameters,but also the servo system can achieve satisfactory results in speed tracking and position tracking.