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Method of the 2nd differential angular acceleration observer based on series position linear-fitting differential filters

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[ISSN:1007-449X/CN:23-1 408/TM]

Issue:
2016年01
Page:
81-87
Research Field:
Publishing date:

Info

Title:
Method of the 2nd differential angular acceleration observer based on series position linear-fitting differential filters

Author(s):
 QIU Wen-bin CHAI Jian-yun SUN Xu-dong LU Hai-feng FAN Ming

 ( State Key Lab of Power Systems,Department of Electrical Engineering,Tsinghua University,Beijing 100084,China)
Keywords:
angular acceleration polynomial curve fitting angular acceleration observer series 2nd differ-ential observer high-frequency noises
PACS:
TP 242,TP 216
DOI:
10. 15938 /j. emc. 2016. 01. 013
Abstract:
The acceleration feedback can provide higher stiffness of the servo control system,and improve the system robustness. However,acceleration control is seldom implemented in practical,due to the high-frequency noises which are amplified by the 2nd differential operation of position. Firstly,three kinds of angular acceleration observer based on polynomial curve fitting were thoroughly analyzed,and the re-sults show that the 2nd degree polynomial angular acceleration observer has the best comprehensive per-formance. Secondly,in order to depress the noise,a method of the series 2nd differential angular acceler-ation observer based on the position linear-fitting differential filters was proposed. From the cutoff fre-quency,white noise magnification and delay time,its performance was analyzed in three aspects and the comparative analysis was carried out between the proposed method and the 2nd degree polynomial observ-er. Better noise rejection ability of the proposed method is verified by simulations and experiments.

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Last Update: 2016-03-21