基于干扰观测器的反作用力矩测试系统鲁棒性设计-电工技术学报.PDF

20 10 年 7 月 电 工 技 术 学 报 Vol.25 No. 7 第25 卷第 7 期 TRAN SACTION S OF CHINA ELECTROTECHNICAL SOCIETY Jul. 20 10 基于干扰观测器的反作用力矩测试系统鲁棒性 设计 陈霞 邹继斌 （哈尔滨工业大学电气工程与自动化学院 哈尔滨 15000 1） 摘要 针对反作用力矩测试系统的力矩控制问题，提出了基于干扰观测 的鲁棒控制方法。 首先根据反作用力矩测试系统的工作原理，在位置单闭环的基础上引入了干扰观测 ，对被测 力矩进行估计。其次在此基础上建立了加入干扰观测 的系统的数学模型，提出了一种干扰观 测 的近似设计方法。仿真和实验表明，干扰观测 能够提高系统的抗扰性和动态特性。同时 通 近似方法设计的干扰观测 易于实现，亦能达到改善控制系统性能的目的。 关键词：反作用力矩测试 干扰观测 力矩伺服 中图分 号：TP273 Robust Design of Reaction Torque Measurement System Based on Disturbance Observer Chen X ia Zou J ibin （Harbin Institute of Technology Harbin 15000 1 China ） Abstract A novel robust control method based on disturbance observer (DOB) is presented, in order to achieve high performance control specifications for the torque measurement servo system . First, a position closed loop control system is established according to working principle of the torque measurement system . In order to estimate the measured torque, the DOB is added to the position closed loop control system . Next, a mathematical model of the DOB system is built . And an approximate design method for DOB is put forward. Simulation and experimental results show that, through the DOB added to the system, position interference rej ection and torque dynamic performance of the system are increased. And the DOB can be easily designed through the approximate method; also it can improve the performance of the control system . Keywords ：Reaction torque measurement, disturbance observer, torque servo 提高系统的抗扰性有模型参考自适应控制、滑 1 引言