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Design method of dual compensators of dual-way feedforward disturbance observer

A technology of disturbance observer and double compensator, which is applied in the direction of instrumentation, adaptive control, control/regulation system, etc., can solve problems such as lack of constraints, inability to effectively guarantee system stability and disturbance suppression ability, and achieve clear thinking and improved Disturbance suppression ability, obvious effect

Active Publication Date: 2019-07-19
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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Problems solved by technology

Moreover, this literature lacks the constraints of the system stability analysis on the disturbance observer, which cannot effectively guarantee the stability of the system and the disturbance suppression ability. Therefore, it is necessary to propose a stability constraint for the design of the disturbance feedforward compensation controller

Method used

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  • Design method of dual compensators of dual-way feedforward disturbance observer
  • Design method of dual compensators of dual-way feedforward disturbance observer
  • Design method of dual compensators of dual-way feedforward disturbance observer

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Embodiment Construction

[0039] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0040] as attached figure 1 Shown is a control block diagram of a dual-compensator design method for a dual-feedforward disturbance observer, which includes a dual-disturbance feedforward loop, acceleration loop, speed loop, and position loop of the dual-feedforward disturbance observer compensation controller; Combining the control method of dual feed-forward disturbance observer with the inner and outer loops to simultaneously compensate for external disturbances and the traditional three-closed-loop control method, the disturbances in different frequency bands are further observed, estimated, and reversed-phase feedforward, thereby improving the low-frequency and mid-range of the system. Frequency band disturbance suppression capability. The specific implementation steps of adopting described device to realize feed-forward c...

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Abstract

The invention discloses a design method of dual compensators of a dual-way feedforward disturbance observer. A system stability control platform has insufficient low frequency and medium frequency disturbance suppression capability, thereby failing to meet higher precision demand of system stability control. Design of the traditional disturbance observer is improved based on multi-closed loop control, so as to provide a design method of dual compensators of a dual-way feedforward disturbance observer. Design of the dual-compensator is based on system stability at first, and then design of disturbance suppression based on different frequencies is conducted, wherein an inner loop disturbs a feedforward loop to suppress low frequency disturbance, and an outer loop disturbs the feedforward loop to suppress medium frequency disturbance, and the dual compensators act simultaneously so as to improve low frequency and medium frequency disturbance suppression capabilities of the system, therefore, the system stability is ensured, and system stability control accuracy is improved effectively.

Description

technical field [0001] The invention belongs to the field of stability control, and in particular relates to a dual compensator design method of a dual feed-forward disturbance observer, which mainly improves the disturbance suppression capability of the low frequency and intermediate frequency of the system, thereby further improving the stability performance of the motion platform stabilization equipment. Background technique [0002] In the control equipment, the stability accuracy of the system will be affected by external disturbances, such as ground vibration, vibration of the stable platform caused by perturbation caused by air flow. Especially for stabilized equipment installed on moving platforms such as airplanes, automobiles, and ships, the stabilized platform will be subject to a large number of broadband disturbances due to the irregular movement of the installation carrier. Because the installation carrier is affected by the disturbance, the stability of the sy...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 邓久强毛耀任维何秋农周翕
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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