The Acceleration Estimation Method And Application Of Mechanical Electrical Systems

In the servo control system, control effect is often reduced by disturbance torque,mechanical resonance, nonlinear friction and other factors. This paper improved themethod of obtaining the angular acceleration signal, which is to be feed back into thecontrol process to form the position-angular acceleration double closed loop controlsystem. This paper includes the following contents:Firstly, study on the mechanism of the feedback of the angle acceleration andthe electromechanical servo system. This paper brief analysis of the main factorswhich reduce control performance of system, studied the mechanism of angleacceleration feedback effect in control system, and stated how the controlperformance could be improved by introducing the feedback of angle accelerationmechanism.Secondly, Study on the acquisition methods of angular acceleration from bothfilter thoery without the theoretical model and state observer method with thetheoretical model. a) This paper designed a differential tracker based on least square,which is processed the angular position data acquied into angular acceleration, andapplied the method to the system with lower requirements of bandwidth and controlaccuracy. b) This paer designed an easy-applied engineering extended state observer,which can be used effectively inhibit the compensation of internal/externaldisturbance, and get a well angular velocity signal in the same time. Therefore, thispaper designed a synovial differentiator observer to process angular velocity signaland obtain angular acceleration information for subsequent closed loop control. Thesimulation showed that this method marked the features of fast convergence, smalllag and so on.At last, research and development of angular position-acceleration double closed loop control system. Based on the frequency domain correction method, thispaper designed and implemented the inclusion of an extended state observer positionangle acceleration of double closed loop feedback control system, and applied its to areal system. The simulation and practice proved that, this method can improve thecontrol performance of the system.