共查询到19条相似文献,搜索用时 125 毫秒
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多变量非线性厚度-活套系统的鲁棒逆控制 总被引:2,自引:0,他引:2
针对典型的多变量、强耦合、不确定厚度-活套非线性系统.提出了一种基于逆系统理论的非线性解耦鲁棒控制策略.建市了厚度-活套非线性系统动态模型,应用该策略实现了厚度-活套系统的反馈线性化解耦,并针对伪线性系统的未建模动态和外界干扰推导了保证厚度系统鲁棒稳定性和鲁棒性能的约束条件,设计出抗干扰、鲁棒性强的反馈控制器.仿真效果表明鲁棒逆系统策略对厚度-活套多变量强耦合非线性系统控制的有效性. 相似文献
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针对典型的多变量、强耦合、不确定厚度–活套非线性系统, 提出了一种基于逆系统理论的非线性解耦鲁棒控制策略. 建立了厚度–活套非线性系统动态模型, 应用该策略实现了厚度–活套系统的反馈线性化解耦, 并针对伪线性系统的未建模动态和外界干扰推导了保证厚度系统鲁棒稳定性和鲁棒性能的约束条件, 设计出抗干扰、鲁棒性强的反馈控制器. 仿真效果表明鲁棒逆系统策略对厚度–活套多变量强耦合非线性系统控制的有效性. 相似文献
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一种推广的组合非线性输出反馈控制 总被引:2,自引:0,他引:2
针对多变量饱和线性系统的时变参考输入跟踪问题,研究了一种组合非线性输出反馈控制器的设计方法.基于原始的组合非线性反馈理论,构造了全阶和降阶输出反馈控制器.控制器由线性输出反馈项和非线性反馈项组成,使得闭环系统在包含于吸引域的不变集内渐近稳定.除了能够跟踪时变参考输入外,系统还具有良好的动态性能.仿真结果说明了所开发控制器的有效性. 相似文献
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基于支持向量机的非线性内模解耦控制 总被引:1,自引:0,他引:1
针对非线性内模控制在应用于多变量系统时逆模型难以建立的问题, 提出了支持向量机α阶逆系统的内模解耦控制方法. 该方法利用支持向量机辨识非线性系统的逆模型, 并将其串连在原系统之前, 运用逆系统方法的思想, 将一个多变量、非线性、强耦合的复杂系统通过反馈线性化解耦成多个相互独立的单输入单输出的伪线性复合子系统. 对求得的伪线性系统采用内模控制方法进行控制. 仿真试验表明该方法不需要系统精确的数学模型, 较一般的逆系统方法鲁棒稳定性好, 设计简单, 跟踪精度高, 是解决多变量非线性系统控制的一种可行的理论方法. 相似文献
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Nonlinear QFT (quantitative feedback theory) is a technique for solving the problem of robust control of an uncertain nonlinear plant by replacing the uncertain nonlinear plant with an ‘equivalent’ family of linear plants. The problem is then finding a linear QFT controller for this family of linear plants. While this approach is clearly limited, it follows in a long tradition of linearization approaches to nonlinear control (describing functions, extended linearization, etc.) which have been found to be quite effective in a wide range of applications. In recent work, the authors have developed an alternative function space method for the derivation and validation of nonlinear QFT that has clarified and simplified several important features of this approach. In particular, single validation conditions are identified for evaluating the linear equivalent family, and as a result, the nonlinear QFT problem is reduced to a linear equivalent problem decoupled from the linear QFT formalism. In this paper, we review this earlier work and use it in the development of (1) new results on the existence of nonlinear QFT solutions to robust control problems, and (2) new techniques for the circumvention of problems encountered in the application of this approach. Copyright © 2001 John Wiley & Sons, Ltd. 相似文献
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This paper presents the design of a robust force control system for an electrohydraulic load emulator utilized as part of a hardware-in-the-loop flight simulation experiment. In this application, the force controlled hydraulic actuator is used to artificially recreate in-service loads upon a second hydraulic flight actuator operated in closed-loop position control. Electrohydraulic force control is more difficult than electrohydraulic position tracking because the load dynamics influence the force transfer function in a way that makes it challenging to develop an accurate force tracking system using simple feedback control. Nonlinear quantitative feedback theory (QFT) is applied in this paper to address this issue. First, an effective and robust feedback controller is designed by nonlinear QFT to desensitize the force control loop to nonlinear servovalve flow/pressure effects and typical system uncertainties. A secondary compensator is also designed within the QFT framework to extend the force tracking bandwidth with respect to the load motion. Experiments demonstrate acceptable force tracking performance within the scope of a representative flight-simulation experiment. 相似文献
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研究定量反馈理论(QFT)在高速直线电机直接驱动平面运动定位系统控制中的应用问题.该系统采用三闭环(即电流,速度,位置)串级反馈控制加前馈补偿结构.基于8台不同机器上实际测得的频域特性,所设计的QFT高阶鲁棒控制器可以大大降低该系统在大加速度运动状态下所呈现的谐振不确定性.同时,该控制器对传感器噪声和干扰也具有较好的抑制能力.在最大加速度达到6.8g的给定运动轨迹条件下,通过在批量生产的打线机(用于半导体封装)平面运动定位系统的实验结果证实了该方法的有效性. 相似文献
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基于Matlab语言定量反馈控制器的分析与设计 总被引:4,自引:2,他引:4
对定量反馈理论(QFT)的基本原理进行了介绍和利用Matlab语言工具箱进行设计的基本方法,Matlab通用QFT工具箱为用户进行QFT控制器的设计提供了有利的工具,文章就以典型二阶系统为例进行QFT控制器的设计,仿真的结果表明定量反馈理论在不确定系统设计中有着经典控制理论无法替代的性能。 相似文献
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This paper discusses several practical issues related to the design of robust position controllers for hydraulic actuators by quantitative feedback theory (QFT). Important properties of the hydraulic actuator behavior, for control system design, are identified by calculating a family of equivalent frequency responses from acceptable nonlinear input–output data. The role of this modeling approach towards reducing over-design by decreasing the sizes of the QFT plant templates is described. The relationship between the geometry of the QFT bounds and the complexity of the robust feedback law is examined through the development of two low-order controllers having characteristics suitable for different applications. Experimental test results demonstrate the extent that each QFT controller is able to maintain robustness against variations in the hydraulic system dynamics that occur due to changing load conditions as well as uncertainties in the hydraulic supply pressure, valve spool gain, and actuator damping. 相似文献
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Russel B. Miller Isaac M. Horowitz Constantine H. Houpis A. Finley Barfield 《国际强度与非线性控制杂志
》1994,4(1):211-230
》1994,4(1):211-230
Nonlinear quantitative feedback theory (QFT) and pilot compensation techniques are used to design a 2 × 2 flight control system for the YF-16 aircraft over a large range of plant uncertainty. The design is based on numerical input-output time histories generated with a FORTRAN implemented nonlinear simulation of the YF-16. The first step of the design process is the generation of a set of equivalent linear time-invariant (LTI) plant models to represent the actual nonlinear plant. It has been proven that the solution to the equivalent plant problem is guaranteed to solve the original nonlinear problem. Standard QFT techniques are then used in the design synthesis based on the equivalent plant models. A detailed mathematical development of the method used to develop these equivalent LTI plant models is provided. After this inner-loop design, pilot compensation is developed to reduce the pilot's workload. This outer-loop design is also based on a set of equivalent LTI plant models. This is accomplished by modelling the pilot with parameters that result in good handling qualities ratings, and developing the necessary compensation to force the desired system responses. 相似文献
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罗渊 《自动化技术与应用》2008,27(5):16-20
提出特征结构配置和定量反馈理论相结合的鲁俸控制设计方法,并应用该方法对某型飞机横侧向进行控制律设计,然后通过μ分忻对控制律进行稳定性评估。仿真结果表明:该方法使某飞机不仅具有良好解耦效果和动态响应,而且具有较强的鲁棒性。 相似文献
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The current interest in robust control has called into question the applicability of the quantitative feedback theory (QFT) robust design method introduced by Horowitz. A number of issues have been raised regarding inherent restrictions of both the design method and the uncertain plant set. Using a multivariable root-locus technique extended to uncertain systems, this paper shows that the QFT assumptions are indeed not restrictive and are in fact equivalent to other well-known conditions for robust stabilizability. Because QFT is one of the very few methods to specifically address the quantitative robust performance issue, these results should lead to better methods of developing new QFT-design software, as well as improved robust control methods to satisfy a priori quantitative performance bounds. 相似文献