[基础科学]粒子滤波前馈补偿的电机伺服系统控制粒子滤波算法.pdf

27 27 Vol.27 No.27 Sep. 2007 2007 9 Proceedings of the CSEE ©2007 Chin.Soc.for Elec.Eng. 0258-8013 (2006) 27-0099-05 TP302 A 470 40 ⋅ 1 2 1 1 200240 2 200092 Design of Feedforward Compensation for Motor Servo System Control Based on Particle Filter 1 2 1 HU Ming-hui , WANG Yong-shan , SHAO Hui-he (1. School of Electric and Electrical Engineering, Shanghai Jiaotong University, Minghang District, Shanghai 200240, China 2. Department of Mechanical Engineering, Tongji University, Yangpu District, Shanghai 200092, China) ABSTRACT: A new feedforward controller of particle filter is : proposed for the nonlinear non-Guassian filter problem in the motor tracking process. A two-degree-of-freedom control 0 structure is designed for motor servo system. The setpoint tracking controller is designed in terms of the robust optimal performance objective. Then according to the load disturbance rejection requirement during the system steady operation, a feedforward controller is configured between the process input and plant input, adopting the closed-loop for disturbance rejection between the plant input and output, of which the particle filter in the feedforward channel is utilized for rejecting [1] the non-Guassian