【正文】 erter system for an example, the loadtorsion is seemed as an additional disturbance. But it difficult for us to measure it, thus we can get use of the state observer to reconstruct the loadtorsion. For the existing DC motor, it is hard and less economic for us to equip speedmeasuring machine. Thus we need to design a state observer to estimate speed and the load torsion, and the estimation will be used as the plant of the state feedback, and doing this can make the system more economic and be more antidisturbance. KEYWORDS: state observers, state feedback , optimal estimation 上海理工大學畢業(yè)設計（論文 ） III 目 錄 中文摘要 ABSTRACT 第一章 狀態(tài)觀測器及其應用 3 全階觀測器的系統(tǒng)分析 8 第二章 系統(tǒng)各部分介紹及設計內(nèi)容 14 降階狀態(tài)觀測器的設計 22 基于 MATLAB 的控制系統(tǒng)仿真及分析 27 謝辭 式（ 13）就是式（ 11）的系統(tǒng)狀態(tài)觀測器， x? 就是重構(gòu)狀態(tài)。 2)、 由于發(fā)生了零極點對消，因此，觀測器系統(tǒng)是不可控的，即它總是與系統(tǒng)的狀態(tài)保持一致，而不受控制輸入 u 的影響。 降階觀測器 如果原系統(tǒng)是狀態(tài)部分可觀測的，則應采用降階觀測器。例如，雷達在xCeyyBuAxxji?????????????????????..?上海理工大學畢業(yè)設計（論文 ） 9 大風環(huán)境下，天線執(zhí)行電機的負載轉(zhuǎn)矩受風阻力矩的影響而改變；機床加工零件時，在加工工件的切削過程中，負載力矩要發(fā)生變化，并引起轉(zhuǎn)速的波動或加工誤差。 4）、低速平穩(wěn)性好，系統(tǒng)的調(diào)速范圍可達 1： 20220 左右。兩個放大器可獨立使用 ,如分別用于反饋穩(wěn)壓和過流保護等，此時腳 3 應接 RC 網(wǎng)絡，提高整個電路的穩(wěn)定性。這時，輸出量與輸入無關，而是由它后面環(huán)節(jié)的需要決定的。再從動態(tài)性能上看，調(diào)速系統(tǒng)首先需要有較好的抗擾性能，典型Ⅱ型系統(tǒng)恰好能滿足這個要求。 基于 MATLAB 的控制系統(tǒng)仿真及分析 討論觀測器的性能 上海理工大學畢業(yè)設計（論文 ） 23 配置 觀測器的 極點為： ?? ， ?? 在仿真過程中，我在 4 秒和 8 秒時刻，分別給電機一個幅值為 10 和 20，分別 持續(xù) 秒的擾動電流。 基于最優(yōu)估算的調(diào)速狀態(tài)觀測器的設計與研究 30 參考文獻 [1]Katsuhiko Modern Control Engineeing 第四版 電子工業(yè)出版社 [2]塞奇 .懷特 Optimum Systems Control 第 三 版 水利水電出版社 [3]王孝武 現(xiàn)代控制理論基礎 第二版 機械工業(yè)出版社 [4]謝克明 李國勇 現(xiàn)代控制理論 第一版 清華大學 出版社 2022 [5]王凌 智能優(yōu)化算法及其應用 第一版 清華大學出版社 2022 [6]何衍慶 控制系統(tǒng)分析、設計和應用 第一 版 化學工業(yè) 出版社 [7]張志涌 精通 版 第一版 北京航空航天大學出版社 [8]薛定宇 陳陽泉 系統(tǒng)仿真技術(shù)與應用 第一版 清華大學出版社 [9]吳敏 桂衛(wèi)華 現(xiàn)代魯棒控制 第二版 中南大學出版社 [10]陳伯時 電力拖動 自動控制系統(tǒng) 第三版 機械工業(yè)出版社 上海理工大學畢業(yè)設計（論文 ） 31 附錄 外文資料翻譯 原文 ： ACOMPARISON STUDY OF ADVANCED STATE OBSERVER DESIGN TECHNIQUES Weiwen Wang and Zhiqiang Gao The Applied Control Research Laboratory Department of Electrical and Computer Engineering Cleveland State University, Cleveland OH 44114 ABSTRACT This paper presents a parison study of performances and characteristics of three advanced state observers, including the highgain observers, the slidingmode observers and the extended state observers. These observers were originally proposed to address the dependence of the classical observers, such as the Kalman Filter and the Luenberger Observer, on the accurate mathematical representation of the plant. The results show that, over all, the extended state observer is much superior in dealing with dynamic uncertainties, disturbances and sensor noise. Several novel nonlinear gain functions are proposed to address the difficulty in dealing with unknown initial conditions. Simulation and experimental results are provided. I. INTRODUCTION Since the original work by Luenberger [1], the use of state observers proves to be useful in not only system monitoring and regulation but also detecting as well as identifying failures in dynamical systems. Since almost all observer designs are based on the mathematical model of the plant, the presence of disturbances,dynamic uncertainties, and nonlinearities pose great challenges in practical applications. Toward this end, the highperformance robust observer design problem has been topic of considerable interest recently, and several advanced observer designs have been proposed. A highgain observer was first introduced by Khalil and Esfandiari [2] for the design of output feedback controllers due to its ability to robustly estimate the unmeasured states while asymptotically attenuating disturbances. Since then it has been used in solving many nonlinear system problems. For example, H. Rehbinder, X. Huet al. [3] used it to estimate nonlinear pitch and roll for walking robots. et al. [4] designed a robust output feedback control of robot manipulators with it. Another proposed observer design is based on the slidingmode principle. 基于最優(yōu)估算的調(diào)速狀態(tài)觀測器的設計與研究 32 The sliding–mode design method enhances robustness over a range of system uncertainties and disturbances. The earlier work was introduced by Slotine [5] and Utkin [6]. R. Sreedhar, and [7] used it for robust fault detection in nonlinear systems. and [8] presented robust sensor monitoring using slidingmode observers. A class of nonlinear extended state observers (NESO) was proposed by J. Han [9] in 1995 as a unique observer design. It is rather independent of mathematical model of the plants, thus achieving inherent robustness. It was tested and verified in key industrial control problems [10, 11]. To support the latter requirement, system theoretic properties such as asymptotic or exponential stability and convergence are highly Extended Kalman?lter (EKF) is a stateoftheart state estimation solution that is most mon in every branch of engineering. Although it was developed in the 60’s and there are reported thousands of successful applications, its theoretical properties such as convergence are not very well understood. In fact, it is well known that certain ”tricksofthetrade” are necessa