角加速度闭环能增加伺服控制系统的刚度，提高系统鲁棒性，但位置信号的二阶差分运算会放大高频噪声幅值，限制了加速度闭环在实际控制中的应用。首先，对三种基于多项式曲线拟合的角加速度观测器性能进行了分析，结果表明二次多项式角加速度观测器具有最优的综合性能；其次，为了抑制噪声，提出了一种基于位置信号线性拟合的串联二阶差分角加速度观测器，从截止频率、白噪声放大倍数和延时时间三个方面对其性能进行了分析，并与二次多项式角加速度观测器进行了对比，仿真和实验均验证了该方法具有更好的噪声抑制能力。%The acceleration feedback can provide higher stiffness of the servo control system, and improve the system robustness. However, acceleration control is seldom implemented in practical, due to the high-frequency noises which are amplified by the 2nd differential operation of position. Firstly, three kinds of angular acceleration observer based on polynomial curve fitting were thoroughly analyzed, and the re-sults show that the 2 nd degree polynomial angular acceleration observer has the best comprehensive per-formance. Secondly, in order to depress the noise, a method of the series 2nd differential angular acceler-ation observer based on the position linear-fitting differential filters was proposed. From the cutoff fre-quency, white noise magnification and delay time, its performance was analyzed in three aspects and the comparative analysis was carried out between the proposed method and the 2 nd degree polynomial observ-er. Better noise rejection ability of the proposed method is verified by simulations and experiments.
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