首页 | 本学科首页   官方微博 | 高级检索  
相似文献
 共查询到20条相似文献,搜索用时 156 毫秒
1.
导出了单输入单输出反馈控制系统误差响应基于名义系统稳定的零、极点近似相消的时间域积分约束 ,此积分约束是任何反馈控制系统均应满足的 .这一约束给出了单输入单输出反馈系统固有折中的新的观点 .名义系统稳定的零、极点近似相消的存在导致反馈控制系统的调节时间延长或者误差响应的无穷范数变大 .因此 ,在反馈控制系统设计中 ,尽量避免补偿器的零、极点与名义系统的极、零点近似相消 (即使这些零、极点是稳定的 )  相似文献   

2.
介绍了单输入单输出连续系统极点配置设计的几种方法.证明了多输入多输出系统可以转化为单输入单输出系统,这样多输入多输出系统极点配置可以参照单输入单输出系统的极点配置方法进行设计.  相似文献   

3.
基于极点配置的多模型自适应控制   总被引:2,自引:0,他引:2  
李晓理  王伟 《控制与决策》1998,13(A07):453-458
基于极点配置技术对单输入单输出离散时间被控对象提出多模型自适应控制算法,在保证稳定性的前提下,算法对被控对象参数跳变时能进行有效的控制,并提高了系统的瞬态响应。  相似文献   

4.
具有方差和极点约束的不确定系统鲁棒H∞输出反馈控制   总被引:2,自引:1,他引:2  
针对一类具有范数有界不确定性的连续系统和二次矩阵不等式区域,考虑系统具有方差和区域极点约束的输出反馈控制器设计问题.为此首先导出闭环系统区域稳定的充分必要条件.然后用线性矩阵不等式方法给出输出反馈控制器存在的一个充分条件.在此充分条件下闭环系统是鲁棒区域稳定的且具有H∞性能以及当干扰为白噪声信号时其稳态状态方差有限.接下来用矩阵分解方法给出输出反馈控制器增益矩阵的求解过程.最后通过一个仿真实例说明本文所提出的控制器设计方法的有效性.  相似文献   

5.
基于模糊加权的倒立摆混合控制   总被引:1,自引:0,他引:1  
针对小车倒立摆系统,提出了一种线性状态反馈控制和滑模控制模糊加权的控制方法.滑模控制器的作用是将摆角控制在零的一个邻域内,在此邻域内首先采用近似的线性化模型来描述倒立摆系统,然后采用基于极点配置的方法设计系统的线性状态反馈控制器以使系统的状态稳定在给定值,两个控制器的输出通过加权求和作为倒立摆的控制作用.仿真结果证实了该方法的有效性.  相似文献   

6.
结构振动的时滞输出反馈控制器设计   总被引:1,自引:0,他引:1  
研究结构振动的时滞输出反馈控制,通过部分可测输出量实现整个系统的主动振动控制.首先将系统的运动微分方程改写成状态空间模型,其控制输入中存在时滞.再利用一个线性项加积分项的变换将原时滞输入系统转化成无时滞的形式.在此基础上,应用输出反馈原理和合理的性能指标设计出系统的控制律.最后以一个三层建筑结构为例,研究系统在地震载荷下的动态响应.在数值计算中,时滞量取为采样周期的整数倍,积分步长取为采样周期.仿真结果表明,本文提出的时滞输出反馈控制律是有效且实用的.  相似文献   

7.
多输入多输出线性控制系统的简单极点配置算法   总被引:3,自引:0,他引:3  
本文给出了对多输入多输出系统进行极点配置的算法。按照本文的结论,任何多输入多输出线性控制系统都可以象单输入单输出线性系统那样进行闭环系统及状态观测器的极点配置。  相似文献   

8.
非线性不确定系统的直接自适应输出反馈模糊控制   总被引:2,自引:0,他引:2  
王涛  佟绍成 《控制与决策》2003,18(4):445-448
针对一类单输入单输出非线性不确定系统,基于状态观测器并结合自适应模糊系统和滑模控制,提出一种稳定的直接自适应模糊输出反馈控制算法。该算法不需要系统状态可测的条件,并能保证闭环系统稳定。仿真结果表明了该方法的有效性。  相似文献   

9.
本文研究了多重系统同时稳定或极点配置的控制器设计问题。同时稳定或极点配置是出于设计容错控制系统之所需。本文推导了由一个动态补偿器对多重系统进行同时极点配置的充分条件。对于单输入或单输出的情况,上述充分条件也是必要的。文章的最后给出了设计方法以及一个实例。  相似文献   

10.
针对一类状态不可测的单输入单输出非线性不确定系统,提出了一种基于最小二乘支持向量机(LS-SVM)的直接自适应H∞输出反馈控制方法.该方法首先设计一种误差观测器,间接地估计出系统的状态;然后利用LS-SVM构造白适应控制器,并给出了LS-SVM权向量和偏移值的在线学习规则,通过引入如控制器减弱外部干扰及LS-SVM近似误差对输出误差的影响,利用李亚普诺夫理论证明了整个闭环系统的稳定性.仿真研究表明了该控制方案的可行性和有效性.  相似文献   

11.
反馈系统的设计会受到闭环系统特性的制约. 本文给出了反馈控制系统接近虚轴或虚轴上的稳定零点对跟踪误差的时间域积分约束. 这一时间域积分约束是任何一个线性时不变系统为保证其闭环系统的稳定性, 其跟踪误差必须满足的. 接近虚轴或虚轴上的稳定零的存在表明跟踪误差与调节时间之间存在某种折中. 对固定的调节时间, 本文给出了在虚轴上存在零点情形下, 其跟踪误差的无穷范数下界的一个有效估计. 此估计表明, 零点的绝对值越小, 其无穷范数的下界越大. 这些约束由一个例子加以解释.  相似文献   

12.
In feedback control systems, the anti-resonant zeros cannot be arbitrarily placed, hence degrading tracking performance as well as input disturbance and noise rejection capabilities due to reduced gain at the frequencies of the zeros. In this paper, an online adaptive inverse control with saturation (OAICS) algorithm is proposed for compensating the minimum phase resonant poles and anti-resonant zeros of a PZT active suspension using measured position error signal. Experimental results on a Φ-shaped PZT active suspension using laser Doppler vibrometer (LDV) shows the proposed OAICS is effective in cancelling the first two dominant minimum phase pole-zero pairs to achieve high servo bandwidth and low sensitivity servo system with small overshoot during set-point tracking.  相似文献   

13.
This paper studies optimal tracking performance issues pertaining to finite-dimensional, linear, time-invariant feedback control systems. The problem under consideration amounts to determining the minimal tracking error between the output and reference signals of a feedback system, attainable by all possible stabilizing compensators. An integral square error criterion is used as a measure for the tracking error, and explicit expressions are derived for this minimal tracking error with respect to step reference signals. It is shown that plant nonminimum phase zeros have a negative effect on a feedback system's ability to reduce the tracking error, and that in a multivariable system this effect results in a way depending on not only the zero locations, but also the zero directions. It is also shown that if unity feedback structure is used for tracking purposes, plant nonminimum phase zeros and unstable poles can together play a particularly detrimental role in the achievable tracking performance, especially when the zeros and poles are nearby and their directions are closely aligned. On the other hand, if a two parameter controller structure is used, the achievable tracking performance depends only on the plant nonminimum phase zeros  相似文献   

14.
The output of a singe-input-single-output linear feedback system with more than one pole in excess over the zeros in the loop transmission cannot track arbitrarily fast its input (by the root locus). In this work we extend the linear feedback so that some of the open loop poles may depend on the open loop gain; we call this new class quasi-linear feedback systems. We then derive time domain, pole-zero, and frequency domain conditions which ensure arbitrarily fast and robust tracking by quasi-linear feedback, for an arbitrary number of poles in excess over the zeros. We prove that in a particular case these conditions are equivalent, and that the boundedness in frequency of the closed loop transfer function is no longer necessary for achieving arbitrarily fast tracking. The robustness is to external disturbances and initial conditions, and the open loop has to be minimum phase. Some examples are presented which illustrate these results. They also show that this good performance can be obtained with a reduced control effort, and that quasi-linear feedback can alleviate the limitation on performance of non-minimum phase open loops.  相似文献   

15.
It is shown that any finite number of plants that belong to certain classes of multi‐input multi‐output systems with no zeros in the region of instability can be simultaneously stabilized using linear, time‐invariant integral‐action controllers. These plants may be stable or unstable and their poles are not restricted; they may also have any number of zeros in the stable region of the complex plane. The classes of systems under consideration include plants with blocking or transmission zeros at infinity. The common controller achieves asymptotic tracking of step‐input references with zero steady‐state error and has a low order transfer‐function. Systematic synthesis methods are presented, and a parametrization of all simultaneously stabilizing controllers with integral‐action is also provided.  相似文献   

16.
The purpose of this paper is to develop integral relations regarding the singular values of the sensitivity function in linear multivariable feedback systems. The main utility of these integrals is that they can be used to quantify the fundamental limitations in feedback design which arise due to system characteristics such as open-loop unstable poles and nonminimum phase zeros and to such fundamental design requirements as stability and bandwidth constraints. We present extensions to both the classical Bode sensitivity integral relation and Poisson integral formula. These extended integral relations exhibit important insights toward trade-offs that must be performed between sensitivity reduction and sensitivity increase due to the aforementioned system characteristics and design constraints. Most importantly, these results display new phenomena concerning design limitations in multivariable systems which have no analog in single-input single-output systems  相似文献   

17.
18.
The objective of this study is to characterize the unstable zeros of discrete-time non-minimum-phase systems and to compensate the gain and phase errors induced by unstable zeros for tracking control. These two objectives are attempted via examining the frequency response of unstable zeros. The gain error and phase shift induced by unstable zeros are first presented. It is well known that they are undesirable and cannot be cancelled directly via the method of pole-zero cancellation. Through investigating the characteristics of unstable zeros, a systematic approach is then given to compensate the gain and phase errors induced by unstable zeros. Using this approach, both a simple tracking control method and a precision tracking control method are proposed. The design procedure is presented and the design formulae are given. Simulation results are presented to illustrate the effectiveness of the proposed methods.  相似文献   

19.
We study performance limitation issues for multivariable discrete-time feedback systems. The complementary sensitivity function is employed as a performance measure, and Bode and Poisson-type integral inequalities and -type performance limits are derived. The results exhibit frequency-dependent constraints as well as best achievable limits on the complementary sensitivity function, which are shown to be determined by nonminimum phase zeros, unstable poles, and time delays. In particular, the directions of such zeros and poles are seen to play a central role to this effect.  相似文献   

20.
We study performance limitation issues found in linear multivariable feedback systems. Our main contributions include Bode and Poisson type integral inequalities and performance limits for the sensitivity and complementary sensitivity functions. These results characterize and quantify explicitly how open-loop unstable poles and nonminimum phase zeros may impose inherent limitations on feedback design and fundamental limits on the best achievable performance. The role of time delay is also studied in this context. Most notably, we show that the performance and design limitations in multivariable systems intrinsically depend on the locations as well as directions of unstable poles and nonminimum phase zeros, and in particular, on how pole and zero directions are aligned. The latter is characterized by angles measuring the mutual orientation between zero and pole directions, and it is shown to play a crucial role in multivariable system design  相似文献   

设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号