A New Framework of Disturbance Observer with Vidyasagar's Structure

雙互質分解干擾觀測器

陳宇賢(Yu-Xian Chen) ； 黃瑞宇(Ruei-Yu Huang) ； 張時中(Shih-Chung Chang) ； 潘怡仁(Yi-Ren Pan) ； 李安謙(An-Chen Lee)

《中國機械工程學刊》 39卷6期 (2018/12) Pp. 619-635

摘要

This paper proposes a novel two degree of freedom (TDOF) control structure: a combination of Vidyasagar's structure (VS) and the doubly coprime factorization based disturbance observer (DCFDOB). The DCFDOB-VS framework is aimed at providing a control structure and design procedure for a MIMO system with good characteristics of disturbance attenuation, tracking, and decoupling property. The structure can deal with stable/unstable and minimum phase/non-minimum phase plants. The advantage of the method is that two parameters can be designed for different purposes, independently. The parameter H stabilizes the system and improves tracking property. Once the parameter H has been designed, then the Q_Y can be implemented via a parameter Q for rejecting disturbances and improving the system robustness.

關鍵字

Robust stability ； Decoupling control ； Disturbance-observer controller ； Doubly coprime factorization

並列摘要

本文提出一新穎雙自由度的控制架構，其結合雙互質分解（Doubly coprime）觀測器以及Vidyasagar's structure。本文之控制方法提供一完善的控制架構以及設計步驟使得一多輸入多輸出系統可以具備良好的抑制干擾效能之外，並給予優異的軌跡追蹤以及方便的解耦性能射表現。本文所提出之雙自由度的控制架構可應用於穩定、非穩定、極小相位及非極小相位等線性系統，文中對於不同系統狀況之內部穩定及穩健性皆有詳細分析，最後本文方法之優點為對於兩個參數的有最佳的獨立設計步驟，其可獨立針對提升系統追蹤性能表現做設計外，亦可透過另一參數提升對干擾之抑制效果以及系統穩健性。