单级倒立摆系统分析与设计

倒立摆系统以其自身的不稳定性为系统的平衡提出了难题,也因此成为自动控制实验中验证控制算法优劣的极好实验装置.作者对倒立摆系统的非线性模型进行了线性化处理,通过利用全状态反馈和线性二次型最优控制两种方法对系统进行控制以满足设计指标,最后设计仿真实验软件平台以方便对比参数设置和系统性能之间的关系.     

Simultaneous pole-placement/stabilization of pairs of linear time-invariant plants using a continuous-time periodic controller

Given a pair of single input single output (SISO), linear time-invariant (LTI), and strictly proper plants of relative order r, this paper employs a continuous-time periodic controller to achieve 1) simultaneous pole-placement for r = 1 and 2) guaranteed simultaneous stabilization for r = 2; 3, and 4, which jobs LTI controllers cannot, in general, do. The controller also ensures insignificant output ripples. The analysis is based on averaging principle. The computational steps for controller synthesis are linear algebraic in nature. An example illustrates the design procedure.     

一种新的时变系统极点配置自适应控制方法*

本文针对连续快时变系统，提出不要求系统参数未知部分上界的先验信息的自适应算法，得到间接自适应控制方案并且证明闭环系统稳定，仿真结果说明本文的方法有效．     

基于极点优化配置的发动机空燃比控制器设计

针对燃油发动机的燃油油膜动力学子系统,以发动机的空燃比精确控制为最终目标,采用基于状态空间模型的极点配置方法设计控制器.为确定适当的目标极点,提出根据主导极点概念,利用坐标轮换法搜索最优参数,从而确定目标极点的方法.最后通过仿真实验,验证所提出方法有较好的空燃比控制效果,为空燃比精确控制提供了一种新的思路.     

基于极点配置的推力矢量伺服系统控制策略研究

针对推力矢量伺服系统提出了一种采用状态反馈对系统极点进行配置的方法,同时采用该方法设计了Luenberger状态观测器,在此基础上实现了伺服系统的稳态控制。通过仿真和实验表明,采用该方法设计的推力矢量伺服系统的性能优于基于输出反馈的PI-陷波滤波控制的系统性能。     

Passivity-based control of linear time-invariant systems modelled by bond graph

Closed-loop control systems are designed for linear time-invariant (LTI) controllable and observable systems modelled by bond graph (BG). Cascade and feedback interconnections of BG models are realised through active bonds with no loading effect. The use of active bonds may lead to non-conservation of energy and the overall system is modelled by proposed pseudo-junction structures. These structures are build by adding parasitic elements to the BG models and the overall system may become singularly perturbed. The structures for these interconnections can be seen as consisting of inner structures that satisfy energy conservation properties and outer structures including multiport-coupled dissipative fields. These fields highlight energy properties like passivity that are useful for control design. In both interconnections, junction structures and dissipative fields for the controllers are proposed, and passivity is guaranteed for the closed-loop systems assuring robust stability. The cascade interconnection is applied to the structural representation of closed-loop transfer functions, when a stabilising controller is applied to a given nominal plant. Applications are given when the plant and the controller are described by state-space realisations. The feedback interconnection is used getting necessary and sufficient stability conditions based on the closed-loop characteristic polynomial, solving a pole-placement problem and achieving zero-stationary state error.     

递推自适应加权多步预测控制

本文给出了加权多步预测控制(WLPC)[1]的递推自适应算法,该算法将每个采样时刻WLPC算法中计算量很大的极点配置方程求解问题化为一步递推的算法,大大减少了在线计算量,从而使WLPC成为一种实际可行的算法,本文还证明了其闭环稳定性.     

Observer-based controller for robust pole clustering in a vertical strip and disturbance rejection in structured uncertain systems

This paper presents an observer-based multi-objective robust feedback controller to achieve robust pole clustering within a vertical strip and disturbance rejection with an H_∞-norm constraint for the uncertain linear systems. The systems of interest include both matched and mismatched uncertain linear systems with structured uncertainties existing in both the system and input matrices. The controller is obtained by solving two Riccati equations (one for the controller and the other for the observer) and checking three conditions (two for robust pole clustering). A set of tuning parameters is incorporated to enhance flexibility in finding the controller. © 1998 John Wiley & Sons, Ltd.     

基于极点配置的数控机床磁悬浮系统自适应同步控制

本文采用极点配置自适应控制策略来解决横梁两端悬浮高度不一致的问题,这种控制策略将两个磁悬浮系统的位置误差信号作为极点配置自适应控制器的输入,主通道采用PI状态反馈控制器,反馈通道采用极点配置自适应控制器来实现横梁两端的同步悬浮。仿真结果表明,系统快速性好,稳定性强,并且动态过程同步误差小。