<論文>周期外乱のある系の状態推定と制御 : ディジタル型周期外乱除去オブザーバとサーボ系への応用

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A digital observer is proposed for a linear dynamic system with a periodic disturbance. The observer estimates the system-state with rejecting the effect of the periodic disturbance. A design method of a digital servomechanism is also presented in which the output tracking to a reference signal and the disturbance rejection can individually be treated. In this case the reference signal is not necessarily periodic. The relation between the signal generated by the proposed compensator and the disturbance is further investigated. This compensator cancels the periodic disturbance with the aid of asymptotic estimation of the periodic disturbance itself. Although this compensator does not estimate the real state, it is verified that this compensator can be used in system control as well as observers, and hence realizing an input/output performance characteristic right equivalent to a servomechanism designed for no disturbance condition. One thing to be noted is that the reference-signal tracking capability of this servomechanism can be well retained because a reference signal generator can be installed as an internal model in this servo-system. In the case of the discretization of the continuous-time system.an observer-type compensator is proposed for a zero-order hold discrete-time system. This case shows that complete disturbance rejection from the output can be possible just at sampling points though occasional occurrence of ripple is observed between the sampling points, and that such discretization on the continuous-time system is found to be effective using a generalized hold function. Simulation results show the availability of the design method.
神戸市立工業高等専門学校の論文
2003-03-01

<論文>周期外乱のある系の状態推定と制御 : ディジタル型周期外乱除去オブザーバとサーボ系への応用

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