电工技术学报  2016, Vol. 31 Issue (增刊2): 84-91    DOI:
电力电子与电力传动 |
双惯量弹性系统负载扰动观测器设计研究
郎志,杨明,徐殿国
哈尔滨工业大学电气工程系 哈尔滨 150001
Mechanical Resonance Suppression and Disturbance Rejection of Two-Mass System Based on State-Feedback Observer
Lang Zhi, Yang Ming Xu ,Dianguo
Department of Electrical Engineering Harbin Institute of Technology Harbin 150001 China
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摘要 在伺服系统中高刚度控制可以有效抑制负载变化造成的动态干扰现象。状态观测器基于电机模型可以准确快速地为抗干扰控制提供负载信息,进一步加强了系统的抗干扰能力。但较强的抗干扰能力会在传动装置刚度有限的情况下引发机械谐振。针对此问题,着重研究了双惯量抗谐振与抗干扰存在的矛盾,在保持系统抗干扰能力不变的基础上,提出一种基于分数阶状态负反馈观测器控制策略来抑制谐振所造成的速度波动,增强系统的抗谐振能力。分数阶滤波器最大程度上拓展了滤波器的选择范围,同时协调了观测器的鲁棒性和抗谐振能力。将负载状态观测正反馈控制与基于分数阶滤波器的状态负反馈观测器控制相结合,同时实现抑制谐振和增强系统抗干扰能力,并通过实验验证了所提控制策略的有效性。
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郎志
杨明
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关键词 机械谐振干扰抑制双惯量系统状态反馈观测器    
Abstract:High stiffness control in servo system can effectively suppress the dynamic disturbance phenomenon by load variation.Based on the motor model,state-feedback observer can provide the load information quickly and accurately for disturbance rejection.But strong disturbance rejection ability will cause mechanical resonance phenomenon with the finite elasticity of the connecting device easily.To solve this problem,the contradiction between anti-resonance and anti-disturbance is studied.On the basis of keeping disturbance rejection ability,a control algorithm is adopted in this paper based on state-feedback observer.It use fractional order disturbance observer(FO-DOB) to build the state-feedback observer up,which can suppress speed and torque fluctuation caused by the mechanical resonance.Fractional order filter will maximize the extent of the filter selection range and coordinate the robustness and anti-resonance ability.Consequently,the algorithm can suppress speed and torque fluctuation caused by the mechanical resonance and enhance the anti-disturbance ability of the system.The effectiveness of the proposed algorithm is verified by simulation.
Key wordsMechanical resonance    disturbance rejection    two-mass system    state-feedback observer   
收稿日期: 2016-08-22      出版日期: 2017-03-23
PACS: TM341  
基金资助:国家自然科学基金项目(61273147)和“十二五”国家科技重大专项(2012ZX04001051)资助。
作者简介: 郎 志 男,1992年生,硕士研究生,研究方向为电力电子与电力拖动。E-mail:hitlangzhi@163.com杨 明 男,1978年生,教授,博士生导师,研究方向为电力电子技术及应用、交流永磁伺服系统和智能控制应用。E-mail:yangming@hit.edu.cn(通信作者)
引用本文:   
郎志,杨明,徐殿国. 双惯量弹性系统负载扰动观测器设计研究[J]. 电工技术学报, 2016, 31(增刊2): 84-91. Lang Zhi, Yang Ming Xu ,Dianguo. Mechanical Resonance Suppression and Disturbance Rejection of Two-Mass System Based on State-Feedback Observer. Transactions of China Electrotechnical Society, 2016, 31(增刊2): 84-91.
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