论文标题
在离散时间域中，基于干扰观察者的运动控制系统的设计约束更加严格
Design Constraints of Disturbance Observer-based Motion Control Systems are Stricter in the Discrete-Time Domain
论文作者
论文摘要
本文表明，在使用计算机或微控制器实施时，基于干扰观察者（DOB）的强大运动控制系统的设计约束变得更加严格。更严格的设计约束使植物模型的不匹配和DOB带宽上的新上限限制了内在环中的鲁棒和相位铅效应的可实现的鲁棒性。违反设计限制可能会在实践中产生严重的稳定性和性能问题；因此，在调整鲁棒运动控制器的控制参数时应考虑它们。本文还表明，连续的时间分析方法在推导名义植物模型和数字DOB带宽的基本设计约束方面存在下降。因此，在调整连续时间域中数字鲁棒运动控制器的控制参数时，我们可能会观察到意外的稳定性和性能问题。为了提高运动控制器的稳健稳定性和性能，本文通过在统一的框架中采用广义连续和离散的Bode积分定理来解释DOB的基本设计约束。给出模拟和实验结果以验证提出的分析方法。
This paper shows that the design constraints of the Disturbance Observer (DOb) based robust motion control systems become stricter when they are implemented using computers or microcontrollers. The stricter design constraints put new upper bounds on the plant-model mismatch and the bandwidth of the DOb, thus limiting the achievable robustness against disturbances and the phase-lead effect in the inner-loop. Violating the design constraints may yield severe stability and performance issues in practice; therefore, they should be considered in tuning the control parameters of the robust motion controller. This paper also shows that continuous-time analysis methods fall-short in deriving the fundamental design constraints on the nominal plant model and the bandwidth of the digital DOb. Therefore, we may observe unexpected stability and performance issues when tuning the control parameters of the digital robust motion controllers in the continuous-time domain. To improve the robust stability and performance of the motion controllers, this paper explains the fundamental design constraints of the DOb by employing the generalised continuous and discrete Bode Integral Theorems in a unified framework. Simulation and experimental results are given to verify the proposed analysis method.
