基于速度观测器的转台伺服控制技术研究  

The research for servo control of the turn table based on velocity-observer

作　　者：牛雷[1] 金元刚[1] 

机构地区：[1]中国人民解放军92941部队95分队,葫芦岛125001

出　　处：《战术导弹控制技术》2009年第4期45-50,共6页

摘　　要：针对实际转台伺服控制系统在低速运行时不能准确提供速度信号的摩擦补偿问题，提出了一种基于速度观测器的模型参考自适应摩擦补偿方法．该方法利用降维观测器在线估计速度信号，并根据该估计信号对系统进行摩擦补偿；在详细地分析了系统误差信号的局部收敛性的基础上，推导出了系统误差局部收敛的充分条件。利用该方法进行了转台内环控制系统的自适应摩擦补偿设计，得到了库仑、粘滞摩擦补偿器，解决了转台低速运行时不能准确得到速度信号的摩擦补偿问题。To the friction compensation problem when the practical servo control system of the turn table can not accurately provide velocity signal, a velocity-observer-based model reference adaptive friction compensation method is presented. It utilizes a reduced-order observer to estimate the velocity signal online, and compensates the fric- tion with the estimated velocity. Based on the detailed analysis of the local convergence of the system＇s error sig- nals, the sufficient condition of the system error＇s local convergence is derived. With this method, adaptive friction compensation design for inner loop control system of the turn table is done. Columb and viscous friction compen- sator is obtained, and the friction compensation problem when the turn table inner loop can not accurately provide velocity signal is solved.

关 键 词：速度观测器 伺服控制 自适应摩擦补偿 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]