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提出一种全阶比例积分观测器。该观测器包含有估计误差的比例和积分回路 ,可同时得到状态和未知输入估计。分析了比例积分观测器的结构和估计性能 ,给出并证明了其存在条件 ,由于存在条件弱于未知输入观测器 ,该比例积分观测器可以更广泛地应用于基于观测器的技术方案。通过一个飞行器线性化模型 ,进行了比例积分观测器设计。仿真结果表明 ,比例积分观测器的估计性能优于常规 Luenberger观测器
A full order proportional integral observer is proposed. The observer contains a proportional and integral loop with estimated errors, which gives both the state and the unknown input estimate. The structure and estimation performance of proportional integral observer are analyzed. The existing conditions are given and proved. The proportional integral observer can be used widely in observer-based schemes due to the existence of conditions weaker than the unknown input observer. Through a model of aircraft linearization, a proportional integral observer is designed. The simulation results show that the estimation performance of the proportional-integral observer is better than that of the conventional Luenberger observer