基于非光滑观测器的间隙三明治系统状态估计  

Non-smooth observer for sandwich systems with backlash

作　　者：周祖鹏[1,2] 谭永红[3] 

机构地区：[1]西安电子科技大学电子工程学院,陕西西安710071 [2]桂林电子科技大学机电工程学院,广西桂林541004 [3]上海师范大学信息与机电工程学院,上海200234

出　　处：《控制理论与应用》2012年第1期34-40,共7页Control Theory & Applications

基　　金：上海师范大学重点学科资助项目(DZL811,DRL904,DYL201005);上海市教育委员会科研创新资助项目(09ZZ141);国家自然科学基金资助项目(60971004);上海市科委重点资助项目(09220503000,10JC1412200);上海市自然科学基金资助项目(09ZR1423400)

摘　　要：在工业领域,机械传动系统、液压系统等往往含有间隙特性,这类系统可以用带间隙的三明治系统描述.本文针对带间隙的三明治系统特点,构建了一种非光滑观测器以对系统状态进行估计.首先根据带间隙三明治系统的特点,采用分离原理,建立了描述系统特性的非光滑状态空间方程.据此构造了能够随系统工作区间变化而自动切换的非光滑观测器,给出了相应的收敛定理及其证明.最后通过伺服液压系统的例子,分别比较了非光滑观测器和传统的观测器对状态的跟踪效果,比较结果表明非光滑观测器对于带间隙三明治系统状态变量估计的准确性要优于传统的观测器.Industrial systems involving backlash, such as mechanical transmission systems and hydraulic systems, can be described by socalled sandwich systems with backlash. A novel nonsmooth observer is proposed to handle the state estimation for sandwich systems with backlash. Based on the characteristics of the system, a nonsmooth statespace equation is constructed by using the separation principle. A nonsmooth observer is developed based on the obtained statespace equation. The observer switches automatically among different operating zones according to the changes of operation conditions. The convergence of the nonsmooth observer is discussed. The application of this observer to a practical hydraulic servo system is realized. The comparison of tracking performances of the hydraulic servo system is made between the proposed nonsmooth scheme and the conventional method. It is shown that the proposed nonsmooth approach is with much better estimated performance.

关 键 词：非光滑观测器 间隙 三明治系统 状态估计 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]