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A Design Method of Dual-Filter Disturbance Observer for Non-Minimum Phase Systems

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 system instability extremes, and achieve the effect of simple and clear design ideas, obvious effects, and suppression of disturbances

Active Publication Date: 2022-08-02
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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  • A Design Method of Dual-Filter Disturbance Observer for Non-Minimum Phase Systems

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Embodiment Construction

[0032] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] like figure 1 Shown is a control block diagram of a dual-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) are filter one and filter two; the forward model introduced in the present invention avoids unstable poles, filter one Q 1 (s) and filter two Q 2 (s) Working at the same time, the estimated disturbance is simultaneously fed forward to the drive loop in reverse phase to cancel the disturbance of the system, so that the disturbance suppression capability of the closed-loop system is doubled. The specific implementation steps of the method are as follows: ...

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Abstract

The invention discloses a double-filter disturbance observer design method for a non-minimum phase system, which is used to solve the problem that the traditional disturbance observer method is unstable in the non-minimum phase system and cannot suppress disturbance. The present invention introduces a forward model, and provides a new disturbance observer frame structure and a double filter design scheme. The invention starts from the frame structure of the new disturbance observer, carries out stability constraints on the double filter, and analyzes the tracking characteristics and disturbance suppression characteristics of the system under the premise of ensuring the stability of the system. The filter one in the present invention adopts the design of the original closed-loop controller, and the filter two is designed according to the filter one, and realizes the same performance as the filter one. On the basis of not changing the tracking characteristics and stability of the closed-loop non-minimum phase system, the invention can use any filter alone to double the disturbance suppression capability of the system, and use dual filters at the same time to improve the disturbance suppression capability of the system. twice as high.

Description

technical field [0001] The invention belongs to the field of control systems, and in particular relates to a method for designing a double-filter disturbance observer for a non-minimum phase system, which is mainly used for improving 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 lag systems, grinding circuit systems and DC motors. Non-minimum phase systems are difficult to control due to the fundamental limitation of non-minimum phase elements 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 capability is insufficient....

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Application Information

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Patent Type & Authority Patents(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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