摘要：本文采用基于扰动观测器的加速度控制以实现运动控制系统较高的鲁棒性要求，扰动观测器用于对外部负载转矩的扰动进行估计并补偿。为实现精确的扰动估计，要求扰动观测器较高的截止频率和准确的加速度信息。而精确的速度估测对截止频率的提高和加速度估计的准确性至关重要。本文提出一种新的速度估测算法，为科学地说明此算法的动态性能，将动态误差作为新的性能衡量指标。仿真和实验结果表明，该算法能够在保证速度精度不变的前提下，提高动态响应性能，同时能够有效提高运动控制系统的鲁棒性。
关键词：扰动观测器；速度估计；运动控制系统；鲁棒控制

Abstract: In this paper, the acceleration control with disturbance observer (DOB) was adopted to achieve robust motion control, where the DOB was used to estimate and compensate the load disturbance. In order to accomplish the accurate disturbance estimation, higher cutoff frequency of DOB and exact acceleration information were required, to which accurate speed estimation was crucial. This paper proposed a novel speed measurement algorithm. In order to scientifically explain the dynamic performance of this algorithm, put forward dynamic error as a new performance metrics at the same time. Simulation and experimental results show that this speed measurement algorithm can improve dynamic response performance on the premise of guarantee the invariable speed precision, and at the same time can effectively improve the robustness performance of the motion control system.
Key words: disturbance observer; speed estimation; motion control system; robustness control