【摘要】 角加速度闭环能增加伺服控制系统的刚度,提高系统鲁棒性,但位置信号的二阶差分运算会放大高频噪声幅值,限制了加速度闭环在实际控制中的应用。首先,对三种基于多项式曲线拟合的角加速度观测器性能进行了分析,结果表明二次多项式角加速度观测器具有最优的综合性能;其次,为了抑制噪声,提出了一种基于位置信号线性拟合的串联二阶差分角加速度观测器,从截止频率、白噪声放大倍数和延时时间三个方面对其性能进行了分析,并与二次多项式角加速度观测器进行了对比,仿真和实验均验证了该方法具有更好的噪声抑制能力。更多还原

【Abstract】 The acceleration feedback can provide higher stiffness of the servo control system,and improve the system robustness. However,acceleration control is seldom implemented in practical,due to the high-frequency noises which are amplified by the 2nddifferential operation of position. Firstly,three kinds of angular acceleration observer based on polynomial curve fitting were thoroughly analyzed,and the results show that the 2nddegree polynomial angular acceleration observer has the best comprehensive performance. Secondly,in order to depress the noise,a method of the series 2nddifferential angular acceleration observer based on the position linear-fitting differential filters was proposed. From the cutoff frequency,white noise magnification and delay time,its performance was analyzed in three aspects and the comparative analysis was carried out between the proposed method and the 2nddegree polynomial observer. Better noise rejection ability of the proposed method is verified by simulations and experiments.更多还原