摘要
提出了一种近似时间最优控制与时间延迟观测器相结合的快速无静差定点跟踪控制器的设计。控制律以近似时间最优控制律为主体,引入对未知扰动的补偿,利用时间延迟控制技术设计一个对扰动的观测器,同时通过一个现值观测器对系统的不可量测状态进行估计。把这种控制方案用于典型的双积分伺服系统的定位控制,并在MATLAB/Simulink中进行了仿真研究,结果表明所设计的控制系统可以对给定目标进行快速和准确的跟踪,且对扰动和系统参数差异具有较好的性能鲁棒性。
A The design of a fast and accurate set-point tracking controller based on proximate time-optimal control （PTOC） and time delay observer is presented. The control law consists of a PTOC law and a compensation term for the unknown disturbance. An observer for disturbance is designed using the tech- nique of time delay control. A current observer is adopted to estimate the un-measurable state variables. The control scheme is applied to a double integrator servo system for set-point tracking. Simulations are carried out in MATLAB/Simulink. The results confirm that the proposed control scheme can achieve fast and accurate tracking of target reference, and has good performance robustness with respect to the dis- turbance and oarameter variations.
出处
《组合机床与自动化加工技术》
北大核心
2012年第7期42-45,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金(61174051)
关键词
定点跟踪
近似时间最优控制
时间延迟控制
扰动
状态观测器
set-point tracking
proximate time-optimal control
time delay control
disturbance
stateobserver
