Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A method for implementing a high-order disturbance observer in embedded motion control

A technology of disturbance observer and implementation method, which is applied in the direction of control using feedback, can solve the problem of long program running time, achieve the effects of shortening running time, ensuring calculation accuracy, and improving response speed

Active Publication Date: 2014-03-19
SHANGHAI JIAO TONG UNIV
View PDF7 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Programming in fixed-point DSP in the form of float can effectively guarantee the operation accuracy, but this method also brings the disadvantage of too long program running time to program developers

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A method for implementing a high-order disturbance observer in embedded motion control
  • A method for implementing a high-order disturbance observer in embedded motion control
  • A method for implementing a high-order disturbance observer in embedded motion control

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0054] The embodiments of the present invention will be described in detail below, and this embodiment is carried out on the premise of the technical solution of the present invention.

[0055] As an effective means, the disturbance observer can not only effectively solve model uncertainty, external disturbance and nonlinear problems on the basis of system closed-loop, but also dynamically compensate the system phase delay, so it is widely used in unaffected Determining the influence of factors in the control of high-performance servo systems. Such as figure 1 As shown, the basic idea of ​​the disturbance observer is to combine the external disturbance f d and the measurement error ζ and the difference u between the actual object and the nominal model output caused by the change of model parameters dob , all equivalent to the control input u c . The control quantity u calculated by the control law c and the equivalent value u of the high-order disturbance observer dob Th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

Provided is a method for implementing a high-order disturbance observer in a fixed-point DSP. The method comprises implementing the high-order disturbance observer with a cascade connection manner so as to effectively prevent influences caused by quantization errors and truncation errors in a calculating process and guarantee the operational precision of the high-order disturbance observer in the fixed-point DSP; and implementing the high-order disturbance observer in the fixed-point DSP with a manner integrating a integer-type format, a floating point formant, and an IQ format so as not to influence the operational precision of digital control quantity and to shorten the running time of a program in order to decrease the time delay of the disturbance observer and increase response speed.

Description

technical field [0001] The invention relates to the development and design of an embedded motion controller in the technical field of motion control, in particular to a method for realizing a high-order disturbance observer in DSP. Background technique [0002] The concept of Disturbance Observer (DOB) was proposed by K. Ohnishi in 1987. Its basic idea is to use the difference between the actual object and the nominal model output caused by external torque disturbance and model parameter changes as a compensation signal, etc. The control input is effective to eliminate the influence of external torque disturbance and internal model perturbation on system performance, and realize effective suppression of external disturbance and internal model perturbation. The disturbance observer can not only effectively solve the model uncertainty, disturbance and nonlinear problems, but also dynamically compensate the system phase lag problem, so it is widely used in high-performance serv...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/20
Inventor 刘超熊振华吴建华汪辉
Owner SHANGHAI JIAO TONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com