提出新型高精度干扰观测器，显著提升运动控制鲁棒性
AMC26: High-performance DOb for robust position control
- 在离散域设计新观测器，融合高阶截断误差动态
- 实现一阶截断误差，干扰估计精度明显优于传统方法
- 适合对控制精度要求高的工业运动系统应用
本文提出一种新型高性能干扰观测器（HPDOb），显著提升运动控制系统中干扰估计的精度与鲁棒性，超越传统干扰观测器（DObs）能力。所提观测器在离散时间域中进行分析与综合，更真实反映其动态行为，支持实际应用中的控制器优化设计。核心贡献在于一种新合成方法，将高阶截断误差动态引入干扰估计过程。不同于传统DObs仅能处理零阶截断误差，该方法实现一阶截断误差，显著提升干扰估计精度与系统抗扰能力。仿真与实验验证了HPDOb的稳定性与性能优越性。
原文摘要 · Abstract (English)
This paper presents a new HPDOb that significantly improves disturbance estimation accuracy and robustness in motion control systems, surpassing the capabilities of conventional DObs. The proposed observer is analysed and synthesised in the discrete-time domain, providing a realistic representation of their dynamic behaviour and enabling enhanced controller design for practical applications. The core contribution of the HPDOb is a novel synthesis method that incorporates higher-order truncation error dynamics into disturbance estimation. Unlike conventional DObs, which are limited to zero-order truncation error, the HPDOb achieves first-order truncation error, yielding markedly improved estimation accuracy and robustness against disturbances in motion control systems. Simulation and experiments verify the stability and performance of HPDOb.
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