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基于干扰观测器的电动伺服加载系统的研究

Research on Electric Servo Loading System Based on Disturbance Observer
作者:Chunqing ZhangJiangbo ZhaoJunzheng Wang 作者单位:School of Automation, Beijing Institute of Technology, Beijing 100081 China;School of Automation, Beijing Institute of Technology, Beijing 100081 China;School of Automation, Beijing Institute of Techn 加工时间:2014-07-30 信息来源:科技报告(other) 索取原文[6 页]
关键词:控制器;干扰观测器;电动伺服加载系统
摘 要:A novel double-loop control approach for reducing excess torque of the servo loading system based on disturbance observer is proposed.The mathematical model of the loading system is established by mechanism theory and the reasons causing the excess torque are analyzed,the nominal model and disturbance weighting function are determined based on an approximate method.Disturbance observer based the inner loop controller is designed by H∞ mixed sensitivity method and the external-loop controller is designed as the classical PID controller.Both the simulation and experiments results show that disturbance observer is feasible and effective to eliminate the excess torque,accuracy of the loading system is improved.
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