自动化学报2012，Vol.38Issue(1)：12-22,11.DOI:10.3724/SP.J.1004.2012.00012
保证闭环系统鲁棒稳定性的干扰观测器系统性设计方法
Systematic Design Method of Disturbance Observer Guaranteeing Closed-loop System's Robust Stability
摘要
Abstract
The sufficient condition on the robust stability against model uncertainties in the feedback system with disturbance observer (DOB) is studied. Weighting functions satisfying this condition are consequently selected such that robust stability to plant's parameters variation is guaranteed by the disturbance observer designed with standard H∞ disturbance observer design method. Selection methods of frequency weighting functions are proposed concerning about the robustness design specifications and structural restrictions in designing the H∞ DOB. Trade-off between peek magnitude in cut-off frequency of Q- filter and disturbance depressing performance is optimized in designing low-pass filter of disturbance observer via selections of the weighting functions. Therefore, the resultant disturbance observer has the optimal disturbance rejection performance with satisfactory peak magnitude. Experimental results show the proposed method could guarantee robust stability of closed-loop system while providing design freedom for other available design specifications.关键词
鲁棒运动控制/干扰观测器/H∞标准控制问题/低通滤波器/2自由度控制系统Key words
Robust motion control/disturbance observer (DOB)/H∞ standard control problem/low-pass filter/two degrees of freedom control system引用本文复制引用
尹正男,苏剑波,高秀行..保证闭环系统鲁棒稳定性的干扰观测器系统性设计方法[J].自动化学报,2012,38(1):12-22,11.基金项目
国家自然科学基金重点项目(60935001)资助 （60935001）
