论文标题
定期抑制抑制的自适应周期性扰动观察者
An Adaptive Periodic-Disturbance Observer for Periodic-Disturbance Suppression
论文作者
论文摘要
重复操作是由行业中自动机器广泛进行的。重复操作引起的周期性干扰必须得到补偿，以实现精确的功能。在本文中，提出了基于干扰观察者（DOB）结构的周期性扰动观察者（PDOB）。 PDOB通过使用时间延迟元素来补偿包括基本波和谐波在内的周期性干扰。此外，提出了一种自适应PDOB，以补偿频率变化的周期性干扰。自适应Notch滤波器（ANF）用于自适应PDOB中，以估计周期性干扰的基本频率。模拟将提出的方法与重复控制器（RC）和DOB进行了比较。使用多轴操纵器在实验中验证了实践性能。该提案提供了一个基于DOB结构的新框架，用于使用时间延迟元素设计控制器。
Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer (PDOB) based on the disturbance observer (DOB) structure is proposed. The PDOB compensates a periodic disturbance including the fundamental wave and harmonics by using a time delay element. Furthermore, an adaptive PDOB is proposed for the compensation of frequency-varying periodic disturbances. An adaptive notch filter (ANF) is used in the adaptive PDOB to estimate the fundamental frequency of the periodic disturbance. Simulations compare the proposed methods with a repetitive controller (RC) and the DOB. Practical performances are validated in experiments using a multi-axis manipulator. The proposal provides a new framework based on the DOB structure to design controllers using a time delay element.
