| 牛宝良.跟踪微分器频率特性分析[J].装备环境工程,2022,19(5):133-139. NIU bao-liang.Frequency Characteristics Analysis of Tracking-differentiator[J].Equipment Environmental Engineering,2022,19(5):133-139. |
| 跟踪微分器频率特性分析 |
| Frequency Characteristics Analysis of Tracking-differentiator |
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| DOI：10.7643/issn.1672-9242.2022.05.017 |
| 中文关键词: 伺服控制 跟踪微分器 微分器 Simulink 中图分类号:TP273 文献标识码:A 文章编号:1672-9242(2022)05-0133-07 |
| 英文关键词:servo control tracking-differentiator derivation simulink |
| 基金项目:国防科工局技术基础科研项目(JSHS2018212C001) |
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| 中文摘要: |
| 目的 解决跟踪微分器(TD)的参数设计问题。方法 对TD的工作原理、参数进行解释，提出其参数R与工作频率上限的关系，建立扫频仿真模型，通过扫频仿真获得TD的频率特性。通过不同输入幅值仿真研究其频率特性的非线性，通过添加白噪声，研究TD的抗噪声能力。结果 仿真表明，对于输入幅值为1的情况，由R计算的频率上限确实反映了TD的工作频率范围。在该范围内，TD跟踪信号的幅值、相位良好；频率超出范围后，幅值、相位很快变差。输出幅值变小时，频率上限扩展。时域仿真的波形展示了与频率特性一致的结果。与平滑滤波器对比仿真显示，一般情况下，TD的跟踪信号、微分信号优于平滑滤波器，但是信噪比很差时，平滑滤波器反而优于TD。结论 解决了TD参数R的定量设计问题，仿真展示了TD的时域、频域特性，为TD的应用提供了参考。 |
| 英文摘要: |
| Tracking-differentiator(TD) is a kind of differentiator with better performance to solve the problem of TD’s parameter design. This paper explains the working principle and parameters of the TD. proposes the relationship between its parameters R and the upper limit of operating frequency, establishes a sweep simulation model to obtain the frequency characteristics of TD; studies the non-linearity of its frequency characteristics through simulation of different input amplitudes; and studies the anti-noise capability of TD by adding white noise. Simulating results show that TD frequency up limit calculated from R presents the real frequency limit while the input magnitude is 1. In this range, the TD tracking signal has good amplitude and phase. When the frequency is out of range, the amplitude and phase become bad quickly; when the output amplitude becomes small, the upper frequency limit is extended; the waveform of time domain simulation demonstrates the results consistent with the frequency characteristics. Compared with the smoothing filter, the simulation shows that the tracking signal and differential signal of TD is better than the smoothing filter in general, but the smoothing filter is better than TD when the signal-to-noise ratio is poor. This paper solves the problem of quantitative design of TD parameter R, and the simulation shows the characteristics of TD in time domain and frequency domain, which provides a reference for the application of TD. |
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