Research on Electric Servo Loading System Based on Disturbance Observer

摘要：

　　A novel double-loop control approach for reducing excess torque of the servo loading system based on disturbance observer is proposed.The mathematical model of the loading system is established by mechanism theory and the reasons causing the excess torque are analyzed,the nominal model and disturbance weighting function are determined based on an approximate method.Disturbance observer based the inner loop controller is designed by H∞ mixed sensitivity method and the external-loop controller is designed as the classical PID controller.Both the simulation and experiments results show that disturbance observer is feasible and effective to eliminate the excess torque,accuracy of the loading system is improved.

关键词： excess torque disturbance observer nominal model mixed sensitivity

作者: Chunqing Zhang Jiangbo Zhao Junzheng Wang

作者单位: School of Automation, Beijing Institute of Technology, Beijing 100081 China

会议类型: 国际会议

会议名称: 2013 International Conference on Intelligent System,Applied Materials and Control Technology(GSAMCT2013)(2013年智能系统、应用材料和控制技术国际会议)

会议地点: 太原

会议语种:英文

页码: 357-362

在线出版日期: 2013-01-13（万方平台首次上网日期，不代表论文的发表时间）