改进型干扰观测器在稳定平台伺服系统中的应用  

Application of improved disturbance observer in a stable platform servo system

作　　者：陆建山[1] 王昌明[1] 何云峰[1] 胡伟伟[1] 

机构地区：[1]南京理工大学机械工程学院精仪系,南京210094

出　　处：《振动与冲击》2013年第8期96-99,共4页Journal of Vibration and Shock

基　　金：江苏省高校研究生创新平台基金(cxlx12-0190)

摘　　要：为提高稳定平台伺服系统对各种扰动的抑制性能,将一种改进型干扰观测器应用到了平台系统中,该改进型干扰观测器在经典干扰观测器的基础上新增了一个补偿系统输出的控制结构。文中对改进型干扰观测器的性能进行了详细分析,并对存在模型摄动时的鲁棒稳定性进行了推导,同时给出了低通滤波器Q(s)的设计原则。最后通过数值仿真分析表明,改进型干扰观测器能够较好地消除外部干扰和模型摄动的影响,改善了测量噪声的抑制性能。In order to improve the disturbance suppression performance of a stable platform servo system, a new improved disturbance observer was used in the platform system. Based on the structure of a classical disturbance observer （ DOB）, an additional controller was applied in the improved DOB to compensate the system outputs. The performance of the improved DOB was analyzed in detail, and its robust stability was derived when existing model perturbation. Besides, some design principles of a lowpass filter Q （s） were presented. Numerical simulation results illustrated that the improved DOB can suppress external disturbances and model perturbation well, and the suppression performance of measurement noise was improved, too.

关 键 词：稳定平台 干扰观测器 低通滤波器 摩擦模型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]