Servo system disturbance torque compensation method and device based on state observer

Abstract

The invention relates to the technical field of industrial automation, in particular to a servo system disturbance torque compensation method and device based on a state observer, and the method specifically comprises the steps: constructing a state-space equation of motor control and a full-dimensional state observer based on a motion equation of a motor in a servo system, the full-dimensional state observer can be used for determining disturbance torque based on the electromagnetic torque and the rotating speed of the motor; based on the measured electromagnetic torque of the servo system and the rotating speed of the motor, determining a disturbance torque through a full-dimensional state observer; and performing disturbance compensation on the servo system based on the disturbance torque. Therefore, the control stability can be obviously improved, the method is suitable for high and low speed control, the parameter adjustment time can be effectively shortened, and the production efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of industrial automation, and in particular to a servo system disturbance torque compensation method and device based on a state observer. Background Art

[0002] With the development of industrial automation, servo systems, especially permanent magnet synchronous motor (PMSM) servo systems, are becoming more and more widely used. Servo systems are an indispensable part of numerical control systems and robot joints. The control performance of the servo system directly affects the performance of the equipment. A servo system with high response and high rigidity can allow machines and equipment to reach faster and more stable speeds.

[0003] In the servo system, external force disturbance is inevitable in the system, including friction and load changes, which are external force disturbances. Disturbance will cause a sudden change in speed, affect the stability of control, and ultimately affect the operation and processing effect of the machine equipment. In the prior art, the basic three-closed-loop control is used. The external force disturbance is generally compensated by the speed loop, but the performance of the speed loop controller is limited. If the anti-disturbance ability is very high, it is generally necessary to adjust the high gain and a very small integral time constant to provide it. However, the control parameters with high anti-disturbance are not suitable for high-speed operation. However, in the robot control, both high-speed operation and low-speed anti-disturbance ability are required, and the robot will grab objects during operation, which also means that the servo system needs to have the ability to suppress load changes. In the face of these situations, it is difficult for the controller to adjust a suitable parameter, and it can only be adjusted comprehensively, and the debugging time will be relatively long. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a servo system disturbance torque compensation method and device based on a state observer, so as to overcome the current problem that the compensation effect of the servo system disturbance interference is poor and time-consuming.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a servo system disturbance torque compensation method based on a state observer, comprising:

[0007] Constructing a state space equation for motor control and a full-dimensional state observer based on the motion equation of the motor in the servo system, wherein the full-dimensional state observer is used to determine the disturbance torque based on the electromagnetic torque and the motor speed;

[0008] Based on the electromagnetic torque and motor speed of the servo system, the disturbance torque is determined by the full-dimensional state observer;

[0009] Based on the disturbance torque, disturbance compensation is performed on the servo system.

[0010] Further, in some embodiments of the present application, the motion equation is:

[0011]

[0012] Where J is the total moment of inertia of the motor; ω is the motor speed; T e is the electromagnetic torque, in Nm; T d is the disturbance torque, in Nm, where T d Including load torque T l Friction force T f .

[0013] Further, in some embodiments of the present application, the state space equation and full-dimensional state observer of the motor control are constructed based on the motion equation of the motor in the servo system, including:

[0014] Based on the motion equation, the motor speed and the disturbance torque are determined as state variables, and the state space equation is constructed based on the motor speed state variable and the disturbance torque state variable; wherein the disturbance torque state variable is initialized to the negative value of the load torque of the servo system; based on the motion equation of the motor, the differential value expression of the motor speed state variable and the differential expression of the disturbance torque state variable are determined;

[0015] The differential value expression of the motor speed state variable and the differential value expression of the disturbance torque state variable are converted into a target form to determine the first type parameter in the observer equation of the full-dimensional state observer; wherein the target form is the form of the state space equation, and the observer equation is determined based on the state space equation.

[0016] Furthermore, in some embodiments of the present application, the input of the state-space equation of the motor is the electromagnetic torque, and the output is the motor speed.

[0017] Furthermore, in some embodiments of the present application, the state space equation and the full-dimensional state observer of the motor control are constructed based on the motion equation of the motor in the servo system, and further include:

[0018] defining an expression of a gain matrix of the full-dimensional state observer and setting an eigenvalue of the observer characteristic equation, wherein the observer characteristic equation is obtained based on the observer equation;

[0019] Based on the first type of parameters, the expression of the gain matrix, the observer equation and the eigenvalue, determining a gain matrix based on the eigenvalue expression;

[0020] The gain matrix expressed based on the eigenvalue is introduced into the observer equation to obtain a calculation formula for calculating the motor speed observation value and the disturbance torque observation value.

[0021] Furthermore, in some embodiments of the present application, it also includes: discretizing the calculation formula to obtain an algorithm model for actually calculating the speed observation value and the disturbance torque observation value.

[0022] Further, in some embodiments of the present application, the performing disturbance compensation on the servo system based on the disturbance torque includes:

[0023] The calculated disturbance torque observation value is used as the disturbance torque, and disturbance compensation is performed on the current loop control of the servo system based on the disturbance torque.

[0024] In a second aspect, an embodiment of the present application further provides a servo system disturbance torque compensation device based on a state observer, comprising a processor and a memory, wherein the processor is connected to the memory:

[0025] Wherein, the processor is used to call and execute the program stored in the memory;

[0026] The memory is used to store the program, and the program is at least used to execute the above-mentioned servo system disturbance torque compensation method based on the state observer.

[0027] The present invention relates to the field of industrial automation technology, and in particular to a method and device for compensating disturbance torque of a servo system based on a state observer, the method specifically comprising: constructing a state space equation of motor control and a full-dimensional state observer based on the motion equation of the motor in the servo system, wherein the full-dimensional state observer can be used to determine the disturbance torque based on the electromagnetic torque and the motor speed; determining the disturbance torque through the full-dimensional state observer based on the measured electromagnetic torque and the motor speed of the servo system; and performing disturbance compensation on the servo system based on the disturbance torque. In this way, not only can the stability of control be significantly improved, but it is also suitable for high and low speed control, and can effectively shorten the parameter adjustment time and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1It is a flow chart of a servo system disturbance torque compensation method based on a state observer provided in an embodiment of the present invention;

[0030] Figure 2 It is a schematic diagram of the principle of the algorithm model in the full-dimensional state observer in the servo system disturbance torque compensation method based on the state observer provided in an embodiment of the present invention;

[0031] Figure 3 It is a structural schematic diagram of a servo system disturbance torque compensation device based on a state observer provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0033] Method Example:

[0034] Figure 1 is a flow chart of a servo system disturbance torque compensation method based on a state observer provided by an embodiment of the present invention. Figure 1 , this embodiment may include the following steps:

[0035] S101. Constructing a state space equation and a full-dimensional state observer for motor control based on the motion equation of the motor in the servo system.

[0036] S102, based on the electromagnetic torque and motor speed of the servo system, determine the disturbance torque through a full-dimensional state observer.

[0037] It should be noted that the full-dimensional state observer provided in the embodiment of the present application also has the basic functions of the full-dimensional state observer, such as estimating the output of the original system such as the original PMSM servo system, which is a conventional technical means in this field and can be understood by referring to the full-dimensional state observer in the prior art, and will not be repeated here. At the same time, the full-dimensional state observer mentioned in the present application can be used to determine the disturbance torque based on the electromagnetic torque and the motor speed.

[0038] The electromagnetic torque and motor speed of the PMSM servo system can be directly obtained, wherein the electromagnetic torque can be determined by the torque command in the system, and the motor speed can directly collect the feedback speed of the PMSM, and then the electromagnetic torque and motor speed are input into the full-dimensional state observer constructed in this application to directly obtain the disturbance torque.

[0039] S103: Perform disturbance compensation on the servo system based on the disturbance torque.

[0040] Specifically, disturbance compensation can be performed on the current loop control of the PMSM servo system based on the disturbance torque to achieve disturbance compensation for the PMSM servo system.

[0041] The state observer-based servo system disturbance torque compensation method provided in the embodiment of the present application first constructs the state space equation of motor control and the full-dimensional state observer based on the motion equation of the motor in the PMSM servo system, wherein the full-dimensional state observer can be used to determine the disturbance torque based on the electromagnetic torque and the motor speed; then, based on the electromagnetic torque and the motor speed of the PMSM servo system, the disturbance torque is determined by the full-dimensional state observer; finally, based on the disturbance torque, the PMSM servo system is disturbance compensated. In this way, the disturbance compensation of the PMSM servo system can be realized efficiently and accurately.

[0042] Further, in the embodiment of the present application, the motion equation of the motor in the PMSM servo system mentioned above is specifically:

[0043]

[0044] Where J is the total moment of inertia of the motor, in kg*m 2 ;ω is the motor speed, in rad / s 2 ; T e is the electromagnetic torque, in Nm; T d is the disturbance torque, in Nm, where T d Including load torque T l Friction force T f .

[0045] The general expression of the state space equation of the motor control in the PMSM servo system, that is, the state space equation of the motor control in the PMSM servo system, is as follows:

[0046]

[0047] y=Cx (2)

[0048] Wherein, A, B, and C are coefficients, u is the input quantity of the PMSM servo system or the corresponding controller (hereinafter referred to as the system), and in this application, for the PMSM servo system motor, it is specifically the electromagnetic torque; x is the system state variable; y is the system output quantity, and in this application, for the PMSM servo system motor, it is specifically the motor speed; is the differential value of x (the same applies in this application).

[0049] In this application, the state space equation and full-dimensional state observer of motor control are constructed, and the specific process includes the following:

[0050] First, the motor speed and disturbance torque are determined as the state variables of the system. (The motor speed and disturbance torque are selected as the state variables of the system to realize the construction of the state space equation based on the motion equation, that is, to convert the motion equation into the state space expression). Correspondingly, the value of the motor speed state variable is the motor speed of the PMSM servo system, and the disturbance torque state variable is the negative value of the sum of the load torque and friction of the PMSM servo system, that is:

[0051] x1=ω

[0052] x2=-T d (3)

[0053] Among them, x1 is the speed state variable, and x2 is the disturbance torque state variable.

[0054] Then, based on the motion equation of the motor, the differential expression of the motor speed state variable and the differential expression of the disturbance torque state variable are determined; and the differential expression of the motor speed state variable and the differential expression of the disturbance torque state variable are converted into a target form to determine the first-class parameters in the observer equation; wherein the target form is in the form of a state-space equation, and the observer equation is determined based on the state-space equation.

[0055] Specifically, because the calculation frequency of the observer, i.e. the full-dimensional state observer mentioned above, is 8 kHz, which is much larger than the mechanical change cycle, the load change in one cycle can be ignored. Therefore, the results of the above two observation values ​​after initialization are substituted into formula (1). After sorting, the differential expression of the motor speed state variable and the differential expression of the disturbance torque state variable can be obtained, which are as follows (formula (4) is the differential expression of the motor speed state variable, and formula (5) is the differential expression of the disturbance torque state variable):

[0056]

[0057]

[0058] On this basis, the above formulas (4) and (5) are converted into the form of the state space equation of the motor, as follows:

[0059]

[0060] Corresponding to the general expression of the state space equation, we get C = [1 0] (i.e. the first type parameter in the observer equation mentioned later), u = T e, and have the following relationship:

[0061] u=Te

[0062] y=x1=ω (7)

[0063] From the above, we can determine that the system is controllable and observable.

[0064] On this basis, the expression of the full-dimensional state observer is constructed as follows:

[0065]

[0066] in, The differential value of the system state variable predicted or observed by the observer; is the system state variable predicted by the observer, u is the system input, i.e., the electromagnetic torque; L is the gain matrix of the observer; is the system output predicted by the observer, i.e. the predicted motor speed; y is the actually measured system output, i.e. the actual motor speed; where A, B and C are the first type of parameters that have been calculated above.

[0067] Based on the above expression of the full-dimensional state observer, the observer equation is obtained as follows:

[0068]

[0069] After obtaining the above observer equation, the calculation formula for the motor speed observation value and the disturbance torque observation value in the specific calculation observer is determined. The specific process includes:

[0070] First, the expression of the gain matrix of the full-dimensional state observer is defined, and then the eigenvalue of the observer characteristic equation is set. Then, based on the first-category parameters, the expression of the gain matrix, the observer equation and the set eigenvalue, the gain matrix expressed based on the set eigenvalue is determined; then, the gain matrix expressed based on the eigenvalue is substituted into the observer equation to obtain the calculation formula for calculating the motor speed observation value and the disturbance torque observation value.

[0071] Specifically, we first define the expression of the gain matrix of the full-dimensional state observer, as follows:

[0072]

[0073] At this time, let the eigenvalue of formula (9) be λ (it only represents the eigenvalue of formula (9), which is not the set eigenvalue mentioned above. The set eigenvalue is -h mentioned later), then

[0074] |A-LC-λl|=0 (11)

[0075] In formula (11), I is the unit matrix. Substituting the A and C calculated above and the defined L matrix into formula (11), we get the following:

[0076]

[0077] Then the characteristic equation about λ (that is, the observer characteristic equation mentioned in this application) is obtained:

[0078]

[0079] It should be noted that after obtaining formula (13), we need to determine the values ​​of L1 and L2, and then calculate the value of λ. Since when the characteristic root is a double root, only one parameter needs to be determined. Therefore, in the embodiment of the present application, the characteristic value is set to -h, then:

[0080] (λ+h) 2 =λ 2 +2hλ+h 2 =0 (14)

[0081] From equations (13) and (14), the gain matrix value represented by the set eigenvalue (i.e. -h) can be obtained as follows:

[0082] L1=2h

[0083] L2=h 2 J (15)

[0084] At this time, substituting the gain matrix value into equation (9), we can get

[0085]

[0086] in, The motor speed observation value determined by the observer The differential of The disturbance torque observation value determined by the observer The differential of .

[0087] Then the calculation formula of the speed observation value x1 and the disturbance torque observation value x2 can be obtained, that is, the full-dimensional state observer in the present application scheme is specifically:

[0088]

[0089]

[0090] It should be noted that the disturbance torque observation value calculated by the above formula (18) is the disturbance torque actually used for disturbance compensation in this application.

[0091] Furthermore, in some embodiments of the present application, after obtaining the above formula (17) and formula (18), in order to facilitate actual calculation, formula (17) and formula (18) in the full-dimensional state observer can also be discretized to obtain an algorithm model for facilitating the actual calculation of the speed observation value and the disturbance torque observation value. The specific algorithm model is as follows: Figure 2 As shown. Figure 2 In the model, the inputs are TrqRef (actual electromagnetic torque, i.e. electromagnetic torque command value) and SpdFbk (actual motor speed, i.e. motor speed feedback value); the outputs are ObsSpd (motor speed observation value output by the observer) and ObsDisTrq (disturbance torque observation value output by the observer). Figure 2 In the algorithm model, the parameters are calculated as follows (operation process coefficients):

[0092]

[0093] K s =T s *h

[0094] K sj =J*h

[0095] Kd=1 (19)

[0096] Wherein, h is the characteristic value set in the above embodiment, that is, the observer gain setting value. It should be noted that the larger the gain, the faster the observer output converges; Kd is the compensation coefficient, ranging from 0 to 1, which is a manually set value used to control the degree of compensation based on the disturbance torque observation value (in actual application, by setting this value, after calculating the disturbance torque, that is, the disturbance torque observation value, the compensation ratio is adjusted according to the actual application effect, and the compensation effect is gradually adjusted to meet the actual application); T s It is the speed loop calculation period, in s.

[0097] In practical applications, after the full-dimensional state observer is applied to the PMSM servo system, the full-dimensional state observer outputs the disturbance torque observation value, i.e., the disturbance torque, based on the collected or calculated total motor inertia, torque command (corresponding to the actual electromagnetic torque) and feedback speed (corresponding to the actual motor speed). The disturbance torque can be processed by a low-pass filter and then acted on the current loop operation, thereby finally realizing the disturbance correction of the PMSM servo system.

[0098] The servo system disturbance torque compensation method based on the state observer provided in the present application calculates the disturbance torque by using the above-mentioned full-dimensional state observation, and compensates the calculated torque into the current loop control to realize disturbance torque compensation. It can separate linear control and nonlinear disturbance suppression, thereby reducing the pressure on the controller, significantly improving the control stability, and is suitable for high and low speed control. At the same time, it can also effectively shorten the parameter adjustment time and improve production efficiency.

[0099] The effect of the servo system disturbance torque compensation method based on the state observer provided in this application is verified below through the data of the designed simulation and constructed experimental platform.

[0100] First, the data of the control without using the disturbance torque compensation control of the present application and the control after using the disturbance torque compensation are compared as follows:

[0101] Data comparison table 1

[0102] Speed ​​change rpm Speed ​​recovery time ms Torque compensation not used 96rpm 251.85 Using torque compensation 30rpm 3.782

[0103] Then the verification is carried out based on the experimental platform. Specifically, the experimental platform is built, and the motor used in the towing platform is Tamagawa Motor, model TSM3565N7070E731, and the two motors are connected through a coupling. The output motor runs in speed control, which is 1000rpm, and the towed motor runs in torque mode, and the rated torque step signal is manually set through the host computer.

[0104] When the motor is running at 1000rpm (rated speed is 3000rpm), a step load equal to the rated load of the motor is applied, and the change in motor speed and speed recovery time are measured. The specific data are shown in the following table:

[0105] Data comparison table 2

[0106] Speed ​​change rpm Speed ​​recovery time ms No torque compensation 94 408 Add torque compensation 43 13.8

[0107] It can be seen from this that by adding the disturbance torque compensation of the solution of the present application, the responsiveness and stability of the servo system can be significantly improved.

[0108] Device Example:

[0109] Based on the same inventive concept, the present application also provides a servo system disturbance torque compensation device based on a state observer, which is used to implement the above method embodiment. Figure 3 is a schematic diagram of the structure of a servo system disturbance torque compensation device based on a state observer provided in an embodiment of the present invention, such as Figure 3As shown, the servo system disturbance torque compensation device based on the state observer in this embodiment includes a processor 31 and a memory 32, and the processor 31 is connected to the memory 32. The processor 31 is used to call and execute the program stored in the memory 32; the memory 32 is used to store the program, which is at least used to execute the servo system disturbance torque compensation method based on the state observer in the above embodiment.

[0110] The specific implementation scheme of the servo system disturbance torque compensation device based on the state observer provided in the embodiment of the present application can refer to the implementation scheme of the servo system disturbance torque compensation method based on the state observer in any of the above embodiments, which will not be repeated here.

[0111] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0112] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0113] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0114] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0115] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0116] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0117] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0118] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0119] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A servo system disturbance torque compensation method based on a state observer, characterized in that: include: Based on the motion equations of the motor in the servo system, the state space equations and full-dimensional state observer of the motor control are constructed; Based on the electromagnetic torque and motor speed of the servo system, the disturbance torque is determined by the full-dimensional state observer; Based on the disturbance torque, disturbance compensation is performed on the servo system.

2. The servo system disturbance torque compensation method based on state observer according to claim 1, characterized in that: The equation of motion is: Where J is the total moment of inertia of the motor; ω is the motor speed; T e is the electromagnetic torque; T d is the disturbance torque.

3. The servo system disturbance torque compensation method based on state observer according to claim 2 is characterized in that: The state space equation and full-dimensional state observer of the motor control are constructed based on the motion equation of the motor in the servo system, including: Based on the motion equation, the motor speed and the disturbance torque are determined as state variables, and the state space equation is constructed based on the motor speed state variable and the disturbance torque state variable; wherein the disturbance torque state variable is initialized to the negative value of the load torque of the servo system; based on the motion equation of the motor, the differential value expression of the motor speed state variable and the differential expression of the disturbance torque state variable are determined; The differential value expression of the motor speed state variable and the differential value expression of the disturbance torque state variable are converted into a target form to determine the first type parameter in the observer equation of the full-dimensional state observer; wherein the target form is the form of the state space equation, and the observer equation is determined based on the state space equation.

4. The servo system disturbance torque compensation method based on state observer according to claim 3 is characterized in that: The input of the state-space equation is the electromagnetic torque, and the output is the motor speed.

5. The servo system disturbance torque compensation method based on state observer according to claim 4 is characterized in that: The state space equation and the full-dimensional state observer of the motor control are constructed based on the motion equation of the motor in the servo system, and further include: defining an expression of a gain matrix of the full-dimensional state observer and setting eigenvalues ​​of an observer characteristic equation, wherein the observer characteristic equation is obtained based on the observer equation; Based on the first type of parameters, the expression of the gain matrix, the observer equation and the eigenvalue, determining a gain matrix based on the eigenvalue expression; The gain matrix expressed based on the eigenvalue is introduced into the observer equation to obtain a calculation formula for calculating the motor speed observation value and the disturbance torque observation value.

6. The servo system disturbance torque compensation method based on state observer according to claim 5, characterized in that: Also includes: The calculation formula is discretized to obtain an algorithm model for actually calculating the motor speed observation value and the disturbance torque observation value.

7. The servo system disturbance torque compensation method based on state observer according to claim 5, characterized in that: The performing disturbance compensation on the servo system based on the disturbance torque comprises: The calculated disturbance torque observation value is used as the disturbance torque, and disturbance compensation is performed on the current loop control of the servo system based on the disturbance torque.

8. A servo system disturbance torque compensation device based on a state observer, characterized in that: The invention comprises a processor and a memory, wherein the processor is connected to the memory: Wherein, the processor is used to call and execute the program stored in the memory; The memory is used to store the program, and the program is at least used to execute the servo system disturbance torque compensation method based on the state observer according to any one of claims 1-7.

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