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基于光电编码器的电机变周期速度观测器设计

张靖 吴忠 黄丽雅

张靖, 吴忠, 黄丽雅等 . 基于光电编码器的电机变周期速度观测器设计[J]. 北京航空航天大学学报, 2014, 40(6): 824-828. doi: 10.13700/j.bh.1001-5965.2013.0384
引用本文: 张靖, 吴忠, 黄丽雅等 . 基于光电编码器的电机变周期速度观测器设计[J]. 北京航空航天大学学报, 2014, 40(6): 824-828. doi: 10.13700/j.bh.1001-5965.2013.0384
Zhang Jing, Wu Zhong, Huang Liyaet al. Variable-sampling-rate observer for speed estimation of servo motors with optical encoders[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(6): 824-828. doi: 10.13700/j.bh.1001-5965.2013.0384(in Chinese)
Citation: Zhang Jing, Wu Zhong, Huang Liyaet al. Variable-sampling-rate observer for speed estimation of servo motors with optical encoders[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(6): 824-828. doi: 10.13700/j.bh.1001-5965.2013.0384(in Chinese)

基于光电编码器的电机变周期速度观测器设计

doi: 10.13700/j.bh.1001-5965.2013.0384
基金项目: 

国家自然科学基金资助项目(10772011)

详细信息
    作者简介:

    张 靖(1988- ),男,山东东营人,硕士生,zhangjingbuaa@163.com.

  • 中图分类号: TM383.4

Variable-sampling-rate observer for speed estimation of servo motors with optical encoders

  • 摘要: 针对光电编码器在伺服系统应用中速度估计易受系统振动干扰和存在量化误差的问题,设计了一种基于变采样周期观测器的速度估计算法.通过观测器的积分运算抑制振动干扰;通过采样周期和光电编码器脉冲的同步,使量化误差最小;为了减小观测器离散域极点变化对算法性能的影响,保证变周期观测器在较大速度范围保持较高精度,给出了一种观测器增益系数的计算方法.实验表明该算法可以在保证动态性能的同时,有效抑制振动和量化误差引起的估计误差,提高速度估计精度.

     

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出版历程
  • 收稿日期:  2013-07-02
  • 网络出版日期:  2014-06-20

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