利用非线性跟踪微分器测速测加速度的研究  

Research on Velocity and Acceleration Measurement Based on Nonlinear Tracking-differentiator

作　　者：乔冠宇[1,2] 高慧斌[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院研究生院,北京100039

出　　处：《仪表技术与传感器》2013年第1期105-107,共3页Instrument Technique and Sensor

摘　　要：针对在光电跟踪伺服系统中常规差分测速度和测加速度高频时带来的误差放大问题,文中提出了将非线性跟踪微分器应用于测速测加速度环节的方法,利用位置传感器测出的位置信号,能快速准确的估计出速度和加速度信息。该方法不基于对象模型,计算量小,简便且易于实现,同时也无需额外的硬件开销。文中在进行大量数值仿真分析的同时,进行了实验验证。结果表明,伺服跟踪系统在低速(0.03°/s)情况下,速度和加速度的波动方差分别降低了7.56″/s和11.52″/s2。并且在低速跟踪时平稳无抖动。文中方法有效可行,为今后伺服系统速度闭环提供了新的思路。In allusion to error amplification brought by conventional differential velocity and acceleration measurement with high frequency in O-E tracking servo system, a method which in application of velocity and acceleration measurement based on nonlinear tracking-differentiator was proposed to estimate the velocity and acceleration information quickly and exactly making use of the position signal measured by position sensor. The method did not rely on object＇ s mode with small computation and easily to realize, nor additional hardware. The experimental verification was achieved after numerical simulation. As a result, with the condition of low-velocity tracking（0. 03°/s）, the standard deviation of velocity and acceleration reduced 7. 56″/s and 11.52″/s^2 respectively. The method is effective and stable with no dithering especially in low-velocity tracking, it also provides a new idea for the velocity closed loop of servo systems.

关 键 词：非线性跟踪微分器 差分测速 速度、加速度估计 低速跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]