一种基于编码器的全阶观测器测速方法  

A speed-measuring method of full-order observer based on quantized encoder

作　　者：薛高飞[1] 胡安[1] 

机构地区：[1]海军工程大学舰船综合电力技术国防科技重点实验室,武汉430033

出　　处：《海军工程大学学报》2013年第6期1-6,共6页Journal of Naval University of Engineering

基　　金：国家自然科学基金资助项目(51077129);国家高科技研究发展计划(863计划)资助项目(2011AA040302)

摘　　要：在考虑系统的摩擦损耗和负载扰动的情况下,给出了旋转电机的通用机械运动模型,并根据控制系统理论和编码器输出信号的特点,经数学推导得到了编码器测速系统的全阶观测器模型,提出了观测器位置信号的量化方法,最终得到了全阶观测器测速系统的控制框图。仿真分析表明:该全阶观测器测速精度远高于传统的编码器直接测速方法的测速精度,特别是在低精度编码器的测速系统中,当系统转动惯量已知时,基于编码器的全阶观测器可极大地提高系统的测速性能。This paper makes an analysis of the dynamic mechanism model of the rotary motor. The full-order observer for speed measurement is proposed based on the rigorous mathematic derivation. According to the characteristics of output signals of the encoder, a quantized method of measuring the positional signal of the observer is proposed. The simulation shows that the full-order observer is more accurate than the conventional encoder in speed measurement. It is found that the parameter of inertia in the observer can greatly influence its speed-measuring precision. Therefore, the observer can greatly enhance the speed-measuring performance when the low-resolution pulse encoder is used.

关 键 词：观测器 测速 编码器 

分 类 号：TM32[电气工程—电机]