Tang Tao, Chen Sisi, Huang Xuanlin, Yang Tao, Qi Bo
Institute of Optics and Electronics, Chinese Academy of Science, Chengdu 610209, China.
Key Laboratory of Optical Engineering, Chinese Academy of Sciences, Chengdu 610209, China.
Sensors (Basel). 2018 Mar 2;18(3):754. doi: 10.3390/s18030754.
High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm.
通过对齿轮驱动控制系统的干扰进行补偿，可以改善高性能位置控制。本文提出了一种基于传感器融合的无模型干扰观测器（DOB），以减少齿轮驱动万向节中与干扰相关的一些误差。该DOB利用速率偏差来检测干扰，以实现高增益补偿器。与角位置信号相比，负载和电机之间的速率偏差能够快速显示出齿轮驱动万向节中存在的干扰。由于电机速率闭环的高带宽，实现DOB不需要被控对象的逆模型。此外，该DOB既不需要复杂的被控对象建模，也不需要使用附加传感器。在没有速率传感器提供角速率的情况下，分别安装在电机和负载侧的编码器很容易检测到速率偏差。通过大量实验证明了所提算法的优势。
