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Implementation of Disturbance Observer in Embedded Motion Control

A technology of disturbance observer and implementation method, which is applied in the direction of control using feedback, can solve the problem of long program running time, achieve the effects of shortening running time, ensuring calculation accuracy, and improving response speed

Active Publication Date: 2016-04-06
SHANGHAI JIAOTONG UNIV
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Problems solved by technology

Programming in fixed-point DSP in the form of float can effectively guarantee the operation accuracy, but this method also brings the disadvantage of too long program running time to program developers

Method used

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  • Implementation of Disturbance Observer in Embedded Motion Control
  • Implementation of Disturbance Observer in Embedded Motion Control
  • Implementation of Disturbance Observer in Embedded Motion Control

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Embodiment Construction

[0053] The embodiments of the present invention will be described in detail below, and this embodiment is carried out on the premise of the technical solution of the present invention.

[0054] As an effective means, the disturbance observer can not only effectively solve model uncertainty, external disturbance and nonlinear problems on the basis of system closed-loop, but also dynamically compensate the system phase delay, so it is widely used in unaffected Determining the influence of factors in the control of high-performance servo systems. Such as figure 1 As shown, the basic idea of ​​the disturbance observer is to combine the external disturbance f d and the measurement error ζ and the difference u between the actual object and the nominal model output caused by the change of model parameters dob , all equivalent to the control input u c . The control quantity u calculated by the control law c and the equivalent value u of the high-order disturbance observer dob Th...

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Abstract

Provided is a method for implementing a high-order disturbance observer in a fixed-point DSP. The method comprises implementing the high-order disturbance observer with a cascade connection manner so as to effectively prevent influences caused by quantization errors and truncation errors in a calculating process and guarantee the operational precision of the high-order disturbance observer in the fixed-point DSP; and implementing the high-order disturbance observer in the fixed-point DSP with a manner integrating a integer-type format, a floating point formant, and an IQ format so as not to influence the operational precision of digital control quantity and to shorten the running time of a program in order to decrease the time delay of the disturbance observer and increase response speed.

Description

technical field [0001] The invention relates to the development and design of an embedded motion controller in the technical field of motion control, in particular to a method for realizing a high-order disturbance observer in DSP. Background technique [0002] The concept of Disturbance Observer (Disturbance Observer, DOB) was proposed by K. Ohnishi in 1987. Its basic idea is to use the difference between the actual object and the nominal model output caused by external torque disturbance and model parameter changes as a compensation signal equivalent To the control input to eliminate the influence of external torque disturbance and internal model perturbation on system performance, and achieve effective suppression of external disturbance and internal model perturbation. The disturbance observer can not only effectively solve the model uncertainty, disturbance and nonlinear problems, but also dynamically compensate the system phase lag problem, so it is widely used in high...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D3/20
Inventor 刘超熊振华吴建华汪辉
Owner SHANGHAI JIAOTONG UNIV
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