Application of Robust Optimal Control to Servo Systems
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摘要: 考虑随动系统的特点,针对被控对象本身可能出现的参数摄动和外部干扰,提出了一种鲁棒最优控制方法.这种方法建立在一种改进的控制结构基础上,综合了鲁棒控制和最优控制的优点加以实现.通过对某随动系统的设计举例给出了方法的实现过程.仿真结果表明,这种方法既可以满足随动系统的跟随特性,又能够有效地抑制干扰,降低系统对参数摄动的敏感程度.这种方法的精度较高、鲁棒性强,具有实用性.Abstract: Considering the characteristics of servo system, a robust-optimal control method to deal with object's uncertainty and disturbance was proposed. The method was based on an improved control structure, and integrated the excellences of robust control method and optimal control method. The achievement process was given by an example. Simulation results indicated that the method can effectively restrain disturbance, and reduce the sensitivity of the system. In addition, it was found that the system robustness and tracking performance is preferable.
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Key words:
- robust control /
- optimal control /
- servo systems
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[1] 解学书.最优控制——理论与应用[M].北京:清华大学出版社,1986. [2]申铁龙.H∞控制理论及应用[M].北京:清华大学出版社,1996. [3]冯纯伯,田玉平,忻 欣.鲁棒控制系统设计[M].南京:东南大学出版社,1995. [4]Vilanova R,Serra I. Realization of two-degree-of freedom compensator[J]. IEE Proc Control Theory Appli,1997,144(6):589~595. -
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