| 柔性结构系统的观测器型鲁棒最优保性能控制 |
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| 引用本文： | 付兴建,王一品.柔性结构系统的观测器型鲁棒最优保性能控制[J].机床与液压,2019,47(2):102-106. |
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| 作者姓名： | 付兴建 王一品 |
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| 作者单位： | 北京信息科技大学自动化学院,北京,100192;北京信息科技大学自动化学院,北京,100192 |
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| 基金项目： | 国家自然科学基金资助项目(61573230) |
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| 摘 要： | 通过简要分析柔性直线系统结构,给出3自由度高阶直线柔性系统的数学模型。根据实际直线柔性控制过程滑动质量块位置状态信息易得、但速度状态信息不易得的特点,构造了速度状态观测器。同时针对柔性结构系统对于干扰激发的振动具有难以迅速稳定的特点,设计了基于观测器的直线柔性系统的鲁棒最优保性能控制。实验结果表明:对于直线柔性系统,所设计的观测器型鲁棒最优保性能控制是有效的。
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| 关 键 词： | 柔性结构系统 鲁棒控制 不确定性 观测器 |
Robust Optimal Guaranteed Cost Control Based on Observer for Rectilinear Flexible System |
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| FU Xingjian,WANG Yipin.Robust Optimal Guaranteed Cost Control Based on Observer for Rectilinear Flexible System[J].Machine Tool & Hydraulics,2019,47(2):102-106. |
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| Authors: | FU Xingjian WANG Yipin |
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| Affiliation: | (School of Automation,Information Science and Technology University,Beijing 100192,China) |
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| Abstract: | The structural principle of high order rectilinear flexible system was analyzed and the mathematical model of 3-DOF rectilinear flexible system was established.In rectilinear flexible system,the position information of mass block could be obtained,but the speed state information was not readily available.Aiming at the character,the controller was designed based on detectable system states.It was difficult to be quickly stabilized for flexible structure system existing disturbances.Therefore,robust guaranteed cost control based on observer was designed.Experimental results demonstrate the effectiveness of the control scheme. |
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| Keywords: | Rectilinear flexible system Robust control Uncertain Observer |
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