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为了解决传统扰动观测器(disturbance observer,DOB)无法保证标称系统和非最小相位系统内部稳定性的问题,提出了在频域中设计扰动观测器的新方法,通过对补偿器的设计,避免传统DOB传递函数分母为0的情况,从而保证系统稳定性。结合光电稳定平台进行视轴稳定试验,试验结果表明:在幅度为3°、1 Hz的扰动作用下,结合本研究扰动观测器所设计的控制系统,不但可以保证标称系统和非最小相位系统的内部稳定性,并且具有更宽的带宽和更为快速的频率响应,可以更加有效地隔离扰动,相比传统DOB控制系统的输出,扰动残差减少75%,为光电稳定平台控制系统设计提供参考。
In order to solve the problem that traditional disturbance observers (DOB) can not guarantee the internal stability of nominal system and non-minimum phase system, a new method of designing disturbance observer in the frequency domain is proposed. By compensating the design of the compensator, The traditional denominator of DOB transfer function is 0, so as to ensure system stability. The experimental results show that under the disturbance of 3 ° and 1 Hz, the control system designed by the disturbance observer can not only ensure that the nominal system and the non-minimum phase system The internal stability, and has a wider bandwidth and faster frequency response, can more effectively isolate the disturbance, compared to the traditional DOB control system output, the disturbance residual is reduced by 75%, for the photovoltaic platform control system design provides reference.