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Design method of double-filter disturbance observer of non-minimum phase system

A non-minimum phase and disturbance observer technology, applied in the field of control systems, can solve problems such as large limitations, system collapse, and extreme instability of the system, and achieve simple and clear design ideas, obvious effects, and good practicability

Active Publication Date: 2021-07-09
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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Problems solved by technology

According to the document "A New DisturbanceObserver for Non-minimum Phase Linear Systems", when the traditional disturbance observer method is used in a non-minimum phase system, since the inverse model is indispensable, it will lead to unstable poles in the system, making the system unstable. Lose the disturbance suppression effect, and even cause system crash
In this paper, a disturbance observer method for non-minimum phase systems is also proposed, but the method is modified for non-minimum phase objects, which will inevitably affect the original tracking characteristics and stability of closed-loop non-minimum phase systems
In the document "An approximate inverse system for nonminimum-phase systems and its application to disturbance observer", the proposed disturbance observer is limited to the estimation of disturbance without considering the stability of the closed-loop system, which has great limitations

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  • Design method of double-filter disturbance observer of non-minimum phase system
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  • Design method of double-filter disturbance observer of non-minimum phase system

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[0032] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0033] Such as figure 1 Shown is a control block diagram of a double-filter disturbance observer design method for a non-minimum phase system, where G(s) is the non-minimum phase object, C(s) is the closed-loop controller, R(s) is the system input signal, D(s) is the external disturbance, Y(s) is the system output, is the forward model introduced in the present invention, Q 1 (s) and Q 2 (s) is filter one and filter two; The forward model that introduces among the present invention has avoided unstable pole, filter one Q 1 (s) and filter two Q 2 (s) Working at the same time, the estimated disturbance is fed forward to the drive loop at the same time, offsetting the disturbance of the system, so that the disturbance suppression ability of the closed-loop system is doubled. The specific implementation steps of the method are...

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Abstract

The invention discloses a design method of a double-filter disturbance observer of a non-minimum phase system, and is used for solving the problems that the system is unstable and disturbance cannot be suppressed in the non-minimum phase system in a traditional disturbance observer method. According to the method, a forward model is introduced, and a new disturbance observer frame structure and double-filter design scheme is given. Starting from the frame structure of the new disturbance observer, stability constraint is carried out on the double filters, and the tracking characteristic and the disturbance suppression characteristic of the system are analyzed on the premise that the stability of the system is guaranteed. The first filter adopts the design of an original closed-loop controller, the second filter is designed according to the first filter, and the performance of the second filter is the same as that of the first filter. On the basis of not changing the tracking characteristic and the stability of the closed-loop non-minimum phase system, the disturbance suppression capability of the system can be doubled by independently using any filter, and the disturbance suppression capability of the system can be doubled by using the double filters at the same time.

Description

technical field [0001] The invention belongs to the field of control systems, and in particular relates to a design method of a double-filter disturbance observer for a non-minimum phase system, which is mainly used to improve the disturbance suppression capability of a closed-loop non-minimum phase system without changing the tracking characteristics and stability . Background technique [0002] In the control system, in addition to the common minimum phase system, there are also non-minimum phase systems that are inherently stable but contain non-minimum phase links, such as hysteresis systems, grinding circuit systems, and DC motors. Non-minimum phase systems are difficult to control because of the fundamental limitation of non-minimum phase links in their control performance. The disturbance suppression characteristic of the closed-loop non-minimum phase system is limited to the single closed-loop system itself, and the disturbance suppression ability is insufficient. ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 毛耀邓久强张超任戈谭毅
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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