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为了进一步完善不稳定系统的鲁棒控制器设计方法,将具有对偶极点的不稳定过程分成纯不稳定过程与一般的稳定过程两部分,对于纯不稳定过程采用先成形再镜像映射的方法,而对于一般的稳定过程则基于极点对消原则直接设计控制器,最后用闭环增益成形算法求解鲁棒控制器。将所设计的鲁棒控制器应用于磁浮列车的悬浮控制中,从仿真结果可以看出,控制效果可以达到小超调(<8%)、无静差、调节时间快(<0.1 s)、对模型摄动具有鲁棒稳定性。
In order to further improve the robust controller design method for unstable systems, the instability process with dipole is divided into two parts, the purely unstable process and the general stable process. For the purely unstable process, the method of forming and then mirroring is used. For the general stability process, the controller is designed directly based on the principle of pole cancellation. Finally, closed-loop gain shaping algorithm is used to solve the robust controller. The robust controller is designed to be used in the levitation control of maglev train. From the simulation results, it can be seen that the control effect can achieve small overshoot (<8%), no static difference, fast settling time (<0.1 s) Robust stability to model perturbation.