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针对光电编码器在伺服系统应用中速度估计易受系统振动干扰和存在量化误差的问题,设计了一种基于变采样周期观测器的速度估计算法.通过观测器的积分运算抑制振动干扰;通过采样周期和光电编码器脉冲的同步,使量化误差最小;为了减小观测器离散域极点变化对算法性能的影响,保证变周期观测器在较大速度范围保持较高精度,给出了一种观测器增益系数的计算方法.实验表明该算法可以在保证动态性能的同时,有效抑制振动和量化误差引起的估计误差,提高速度估计精度.
Aiming at the problem that the speed estimation of optical encoder is easy to be disturbed by the system vibration and the quantization error existed in the servo system, a speed estimation algorithm based on variable sampling period observer is designed. The vibration interference is suppressed by the integral operation of the observer. In order to reduce the influence of the change of the pole in the discrete domain of the observer on the performance of the algorithm and to ensure the variable period observer maintains a higher accuracy in a larger speed range, an observation is given The experimental results show that the proposed algorithm can effectively suppress the estimation errors caused by vibration and quantization errors and improve the speed estimation accuracy while ensuring the dynamic performance.