摘  要：针对电机控制中外界的扰动因素,提出用干扰观测器来补偿扰动对伺服系统运行的影响。在对象的名义模型正确条件下，给出了干扰观测器和反馈控制器的设计方法。并从理论上保证了被控对象参数不确定时的鲁棒性，仿真实验表明了该控制方法的有效性。
关键词：直流伺服电机;干扰观测器;名义模型

Abstract: An equivalent disturbance torque observer estimating variedly parameter was proposed for DC-servomotor control systems. The design of disturbance observer and the feedback controller has been given as long as the nominal model is correct, and robustness for parameter uncertainty is therefore guaranteed in theory. The simulation results show the effectiveness of the proposed scheme.
Key words: DC servo motor;disturbance observer;nominal plant model