A simple nonlinear velocity estimator for high-performance motion control
A simple nonlinear velocity estimator for high-performance motion control
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DOI：
10.1109/tie.2005.851598
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发表时间：
2005-08
影响因子：
7.7
通讯作者：
Yuxin Su;C. Zheng;Dong Sun;B. Duan
中科院分区：
文献类型：
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作者：
Yuxin Su;C. Zheng;Dong Sun;B. Duan
基于在存在噪声的情况下数值积分比数值微分可以提供更稳定和准确的结果的事实，开发了一种计算简单的建设性非线性速度估计器（NVE），用于仅基于位置测量的高质量瞬时速度估计。新速度估计器的吸引力在于它在低速范围内也非常有效，它对噪声和设计参数具有很高的鲁棒性，并且易于实现。此外，所开发的方法是无模型的。已经进行了仿真和实验测试来验证其有效性和效率。所提出的新型简单 NVE 为伺服系统的高性能控制奠定了坚实的基础。
Based on the fact that numerical integration can provide more stable and accurate results than numerical differentiation in the presence of noise, a constructive nonlinear velocity estimator (NVE) with simple computation is developed for high-quality instantaneous velocity estimation, based on the position measurement only. The attraction of the new velocity estimator is that it is very effective as well in the low-velocity ranges, it has high robustness against noise and design parameters, and it is easy to implement. Furthermore, the developed approach is model free. Both simulation and experimental tests have been run to verify its effectiveness and efficiency. The proposed new simple NVE has built a solid base for high-performance control of servo systems.