问题描述:
英语翻译
Experimental results for the magnetic coupling can be seen
in Fig.10 where both the load disturbance and torsion angle
errors are corrected for a load-side set-point position-
referenced system.
Although the results shown in Fig.10 show fast disturbance
rejection and torsion angle compensation,noticeable deviation
occurs on the load-side position.The small variations in load-
side position are owing to the somewhat poor integrity of the estimated load torque,a consequence of too fast observer
dynamics.To improve load-side position stability,the
estimates of load-side position and disturbance torque are
constructed from separate minimum-order observers,a ‘fast’
observer for load-side position with observer poles placed as
previously,and a ‘slow’ observer for load-torque estimation
with observer poles placed at half the ‘bandwidth’ of the fast observer.This enhanced technique is referred to as the
dual-observer method and the modified controller structure is
shown in Fig.11 [12].
The separation of the disturbance torque estimate and the
load-position estimate into slow and fast observers,
respectively,produces a substantial improvement in load-
side set-point position tracking.Fig.12 illustrates the results
for this enhanced dual-observer-based controller strategy.
The performance of the experimental system incorporating
the dual-observer approach is outstanding as can be seen from
Fig.12.Both steady-state disturbance and torsion angle error
have been compensated providing perfect load-side set-point
position tracking.However,this is at the expense of
somewhat slower response.
5 Load angle observation error and
correction
For load-side disturbance torques up to approximately 50% of
the rated pull out torque the magnetic coupling behaves
entirely linearly.However,for a disturbance torque .50%,
the coupling’s torque transfer increasingly deviates from the
linear approximation.As the load-side position is estimated
from a linear observer,at high disturbance torque the
estimated load-side position and true load-side position
begin to deviate.To illustrate the non-linearity error
inherent in an observer constructed from a linear model,
consider the simulation results of Fig.13 with a reference
position of 0 radians and disturbance of 75% of rated
torque TG.
The observed load-side position differs from the true
position because the state estimation is constructed from a
linearised two-inertia model.Consequently,a modification
of the load-side position estimate is necessary.In steady-
state,the linear load-side position estimate is given by………………
Experimental results for the magnetic coupling can be seen
in Fig.10 where both the load disturbance and torsion angle
errors are corrected for a load-side set-point position-
referenced system.
Although the results shown in Fig.10 show fast disturbance
rejection and torsion angle compensation,noticeable deviation
occurs on the load-side position.The small variations in load-
side position are owing to the somewhat poor integrity of the estimated load torque,a consequence of too fast observer
dynamics.To improve load-side position stability,the
estimates of load-side position and disturbance torque are
constructed from separate minimum-order observers,a ‘fast’
observer for load-side position with observer poles placed as
previously,and a ‘slow’ observer for load-torque estimation
with observer poles placed at half the ‘bandwidth’ of the fast observer.This enhanced technique is referred to as the
dual-observer method and the modified controller structure is
shown in Fig.11 [12].
The separation of the disturbance torque estimate and the
load-position estimate into slow and fast observers,
respectively,produces a substantial improvement in load-
side set-point position tracking.Fig.12 illustrates the results
for this enhanced dual-observer-based controller strategy.
The performance of the experimental system incorporating
the dual-observer approach is outstanding as can be seen from
Fig.12.Both steady-state disturbance and torsion angle error
have been compensated providing perfect load-side set-point
position tracking.However,this is at the expense of
somewhat slower response.
5 Load angle observation error and
correction
For load-side disturbance torques up to approximately 50% of
the rated pull out torque the magnetic coupling behaves
entirely linearly.However,for a disturbance torque .50%,
the coupling’s torque transfer increasingly deviates from the
linear approximation.As the load-side position is estimated
from a linear observer,at high disturbance torque the
estimated load-side position and true load-side position
begin to deviate.To illustrate the non-linearity error
inherent in an observer constructed from a linear model,
consider the simulation results of Fig.13 with a reference
position of 0 radians and disturbance of 75% of rated
torque TG.
The observed load-side position differs from the true
position because the state estimation is constructed from a
linearised two-inertia model.Consequently,a modification
of the load-side position estimate is necessary.In steady-
state,the linear load-side position estimate is given by………………
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