【摘要】 针对双惯量系统和三惯量系统中存在的机械谐振问题，从扰动观测器补偿的思想出发，提出一种可同时用于两类系统的控制结构。该结构主要包括扰动观测器和滑模控制器两部分。在扰动观测器设计中，将滤波环节设计为二阶低通滤波器。通过适当地选取滤波器参数，可在带宽范围内将系统等效为名义对象，对谐振峰值实现抑制。在滑模控制器设计中，受双曲函数启发，提出一种新的滑模趋近律，消除了传统滑模控制中由于符号函数的存在导致的抖振现象，大大提高系统的动态响应性能。由于结构设计简单，易于实现，故本方法可用于各种挠性系统中。同时，此类控制结构两部分独立设计，对各种控制器均有较高的适用性。最后通过仿真验证了所提出控制方法的有效性。更多还原

【Abstract】 A control framework is proposed to suppress mechanical vibration in both two-inertia systems and three-inertia systems based on compensation property of disturbance observer. This control framework mainly consists of a disturbance observer and a sliding mode controller. A two-order low-pass filter is adopted during designing disturbance observer. Then the resonance peak can be suppressed well by equating the system to a nominal object through appropriate selection of low-pass filter parameter. In the controller design, inspired by the hyperbolic function, a new sliding mode convergence law was proposed, which eliminates the chattering phenomenon existing in the traditional sliding mode control. Moreover, the great dynamic response performance was achieved. Since the framework design is simple and easy to be implemented, it can be used in various flexible systems. At the same time, this control structure is highly applicable to all kinds of controllers because observer and controller could be deigned separately. Finally, the proposed method was validated in numerical simulation.更多还原