摘要
研究了一种综合考虑闭环动态稳定性、干扰抑制性及鲁棒解耦性的 H∞ 鲁棒控制器的设计问题。定义了鲁棒解耦的概念 ,给出了存在结构不确定性情况下控制器满足鲁棒性和鲁棒解耦的充要条件和递推算法。仿真实例表明 ,用这种设计方法得到的控制器能满足鲁棒解耦性。
For multivariable systems with uncertainties, it is important to design controllers which minimize interaction and at the same time maintain a specified degree of robust stability. Ref.[1] provide a l 1 approach to design decoupler, but the l 1 approach does not allow one to directly control the amount of interaction in the system. We propose a controller design method to overcome the above mentioned shortcoming. In section 1, we define a system evaluation criterion(eq.4) which takes into account robust decoupling, dynamic stability and perturbation reduction at the same time. Such a criterion, to our best knowledge, has not been reported in the open literature. In section 2, we give the necessary and sufficient conditions(eqs.8 through 10) for H ∞ robust decoupling controller to satisfy the above mentioned criterion. Then we give 8 steps for designing such a controller. Fig.3 give the step response of a simulation system as shown in fig.2. Fig.3b shows that the system step response is not interactive in the presence of uncertainties. It also shows that the system is decoupled and stable.
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2000年第2期324-327,共4页
Journal of Northwestern Polytechnical University
关键词
鲁棒解耦
鲁棒控制器
多变量不确定系统
robust decoupling, H_∞ robust controller, multivariable system with uncertainty
