共查询到19条相似文献,搜索用时 250 毫秒
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针对影响硬盘驱动器(HDD)性能的2大主要因素-由硬盘驱动系统引起的干扰和磁头组件中挠性扁电缆引起的扭矩非线性干扰,提出HDD的磁头传动机构-音圈马达(VCM)的DOBC与H∞的复合控制方法.来自硬盘驱动系统的干扰可分为重复性干扰和非重复性干扰.其中的重复性干扰可以和挠性扁电缆引起的扭矩非线性干扰共同看成是VCM输入通道中的干扰,可由动态子系统生成,并用DOBC抵消.非重复性干扰可以和未建模动态、参数和结构的不确定性引起的建模误差、外部扰动共同看成是满足2范数有界的外干扰,并用H∞来抑制.通过将DOBC与H∞控制方法相结合,闭环系统在没有干扰信号时渐近稳定,在有干扰信号时满足H∞控制性能指标.通过IBM硬盘驱动器(DMDM-10340型)的仿真验证了该方法的有效性. 相似文献
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采用H∞回路成形控制方法实现环形二级倒立摆系统的平衡控制;对于H∞回路成形控制器来说,权函数的选择直接影响控制器性能,而往往权函数的选择是需要通过设计人员的不断试凑来完成,不仅设计效率低下,而且无法得到最优的控制性能;因此引入人工蜂群算法,依靠其优异的全局寻优能力,完成对H∞回路成形控制器权函数的求解并保证最优的控制器性能;仿真结果表明,蜂群算法能够寻优到最优的权函数参数,对应的H∞控制器能够保证环形二级倒立摆在受到外界干扰的情况下依然保持在平衡位置。 相似文献
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鲁棒控制系统的H∞范数代表了这个系统的抗干扰性能指标,本文通过实例研究了H∞范数γ的取值对控制系统动态特性几个方面的影响,包括对系统初值扰动响应特性、系统干扰抑制效果以及对闭环系统H∞范数的影响.由于H∞范数只是反映控制系统某一方面的性能指标,当它趋向于最小值时,系统的其它各项重要的性能指标(例如H2范数和动态响应特性等)往往不一定令人满意.文中的计算结果表明,H∞范数最优值几乎是系统其它动态性能指标变化的一个转折点,当设计参数γ在其最小值γopt附近变化时,引起其它性能指标的变化非常剧烈.这些结果同时表明综合考虑系统的各项性能指标以选取合适的γ值尚需进一步的讨论. 相似文献
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本文讨论一类具有串联结构的线性不确定系统的鲁棒H∞控制器,此类系统除状态及控制输入具有滞后特性外,其状态的时滞常数也不相同。文中考虑用分段状态方程描述受控对象,分别设计相应的鲁棒H∞控制器,并证明了分段设计方法能保证整体系统在H∞范数界约束下二次型稳定。 相似文献
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Ming‐Chang Pai 《国际强度与非线性控制杂志
》2011,21(7):725-737
》2011,21(7):725-737
Input shaping technique is widely used in reducing or eliminating residual vibration of flexible structures. It is easy to implement and achieve the exact elimination of the residual vibration if the dynamics of the system are known accurately. However, it is not very robust to parameter uncertainties and external disturbances. In this paper, a closed‐loop input shaping method is developed for reducing or eliminating residual vibration of flexible structure systems with parameter uncertainties and external disturbances. The algorithm is based on input shaping control and discrete‐time sliding mode control. It is shown that the proposed scheme guarantees closed‐loop system stability, and yields good performance and robustness in the presence of parameter uncertainties and external disturbances as well. The selection of switching surface and the existence of sliding mode are two important issues, which have been addressed. The knowledge of upper bound of uncertainties is not required. Furthermore, it is shown that increasing the robustness to parameter uncertainties does not lengthen the duration of the impulse sequence. Simulation results demonstrate the efficacy of the proposed closed‐loop input shaping control scheme. Copyright © 2010 John Wiley & Sons, Ltd. 相似文献
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Input shaping provides an effective method for suppressing residual vibration of flexible structure systems. However, robustness
is not possible without a time penalty. In this paper, a robust input shaping method is developed for suppressing residual
vibration of multi-mode flexible structure systems with parameter uncertainties and external disturbances. The proposed scheme
integrates both input shaping control and sliding mode output feedback control. The input shaper is designed for the reference
model and implemented outside of the feedback loop to reduce the residual vibration. In the feedback loop, the SMOFC technique
is employed to make the closed-loop system behave like the reference model with input shaper, where the residual vibration
is suppressed. The selection of switching surface and the existence of sliding mode have been addressed. The knowledge of
upper bound of uncertainties is not required. Furthermore, it is shown that increasing the robustness to parameter uncertainties
does not lengthen the duration of the impulse sequence. Simulation results demonstrate the efficacy of the proposed control
scheme. 相似文献
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This paper proposes the application of Covariance Matrix Adaptation Evolution Strategy (CMA-ES) in fixed structure H∞ loop shaping controller design. Integral Time Absolute Error (ITAE) performance requirement is incorporated as a constraint with an objective of maximization of stability margin in the fixed structure H∞ loop shaping controller design problem. Pneumatic servo system, separating tower process and F18 fighter aircraft system are considered as test systems. The CMA-ES designed fixed structure H∞ loop-shaping controller is compared with the traditional H∞ loop shaping controller, non-smooth optimization and Heuristic Kalman Algorithm (HKA) based fixed structure H∞ loop shaping controllers in terms of stability margin. 20% perturbation in the nominal plant is used to validate the robustness of the CMA-ES designed H∞ loop shaping controller. The effect of Finite Word Length (FWL) is considered to show the implementation difficulties of controller in digital processors. Simulation results demonstrated that CMA-ES based fixed structure H∞ loop shaping controller is suitable for real time implementation with good robust stability and performance. 相似文献
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This paper addresses the adaptive tracking control scheme for switched nonlinear systems with unknown control gain sign. The approach relaxes the hypothesis that the upper bound of function control gain is known constant and the bounds of external disturbance and approximation errors of neural networks are known. RBF neural networks (NNs) are used to approximate unknown functions and an H-infinity controller is introduced to enhance robustness. The adaptive updating laws and the admissible switching signals have been derived from switched multiple Lyapunov function method. It’s proved that the resulting closed loop system is asymptotically Lyapunov stable such that the output tracking error performance and H-infinity disturbance attenuation level are well obtained. Finally, a simulation example of Forced Duffing systems is given to illustrate the effectiveness of the proposed control scheme and improve significantly the transient performance. 相似文献
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In this paper, a local model network H-infinity control is proposed for CE-150 helicopter stabilization. The proposed strategy capitalizes on recent developments on H-infinity control and its promising results in robust stabilization of plants under unstructured uncertainties. CE-150 helicopters are known for their varying operating conditions along with external disturbances. Therefore, local model networks are introduced for their adaptive feature and since they provide a powerful combination of fuzzy logic and conventional linear control techniques to control nonlinear systems without the added computational burden of soft-computing techniques. Using the fact that the system can be linearized at different operating points, a mixed sensitivity H-infinity controller is designed for the linearized system, and combined within a network to make transitions between them. The proposed control structure ensures robustness, decoupling of the system dynamics while achieving good performance. A comparison is carried-out against the well-known proportional-integral-derivative (PID) control technique. Results are presented to illustrate the controller''s performance in various operating conditions. 相似文献