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基于优化二次型性能指标,以MATLAB为工具对具有乘性不确定线性系统的鲁棒跟踪控制器的优化设计问题进行研究.以一实例来说明鲁棒跟踪控制器具体的设计方法,给出该不确定系统鲁棒跟踪控制器的参数及系统的跟踪轨迹曲线.结果表明,所设计的鲁棒跟踪控制器能有效的跟踪给定,所提出的设计方法是有效的. 相似文献
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针对具有参数不确定以及外部扰动的机器人系统,提出了一种基于神经网络的鲁棒跟踪控制策略。鲁棒补偿控制器用于消除系统参数以及外部干扰引起的不确定性的影响,再利用神经网络学习系统不确定性未知上界。仿真结果表明,方法能有效克服机器人系统模型的不确定性和外部干扰,具有良好的鲁棒性和控制性能。 相似文献
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电动助力转向系统(Electric Power Steering,EPS)中,机械摩擦、传感器噪声和路面干扰等不确定因素将降低EPS的助力跟踪性能、转向轻便性和鲁棒稳定性。针对该问题,以电动助力转向的助力跟踪性能、转向路感和车辆操纵稳定性为控制目标,基于电压补偿控制,设计了鲁棒H∞控制器。利用MATLAB/SIMULINK搭建了EPS控制模型、二自由度整车模型、轮胎模型,在单位阶跃操纵力矩作用下,仿真对比了电压补偿控制和基于电压补偿的鲁棒H∞控制的仿真响应情况,结果表明基于电压补偿的鲁棒H∞控制具有更好的助力跟踪性能、转向路感和鲁棒稳定性。 相似文献
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针对平面单臂柔性梁轨迹跟踪及末端弹性振动问题,提出了基于μ综合的控制方法对其进行抑振控制。首先,采用假设模态法描述弹性变形,并基于Lagrange方程建立动力学模型;其次,考虑载荷质量和结构阻尼的参数不确定性及建模摄动,运用线性分式变换,选用加权函数建立混合不确定模型。通过引入理想模型改进μ综合的标准控制结构,提高了系统收敛性并改善了闭环系统性能。基于μ综合控制方法,设计了系统鲁棒控制器。仿真结果表明,控制器的结构奇异值上下界均小于1,表示系统具有良好的鲁棒稳定性及鲁棒性能。通过与PD控制器对比分析,表明在存在不确定性和干扰的情况下,所提出的控制策略能更高精度地进行轨迹跟踪,更有效地衰减末端振动,验证了该控制策略的有效性。 相似文献
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一类参数和时滞不确定的闭环供应链动态模型与鲁棒H∞控制 总被引:1,自引:0,他引:1
建立了一类参数与时滞不确定的闭环供应链动态系统模型,包括具有参数不确定的产品回收模型、具有时滞不确定的再制造模型、具有参数和时滞不确定的第三方逆向物流模型三种典型的闭环供应链模型。分析了闭环供应链动态系统的鲁棒运作问题。针对闭环供应链动态系统运作过程中参数与时滞不确定干扰的问题,给出了解决供应链动态模型的鲁棒H∞控制策略及其线性矩阵不等式算法。通过库存状态的静态反馈控制,抑制了供应链动态系统中的不确定性干扰,使供应链运作达到理想状态。最后,以结合国内钢铁行业废钢回收运作状况为背景,进行了仿真计算,并验证了鲁棒H∞控制结果。 相似文献
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针对不确定性系统,提出了鲁棒保稳定控制设想。建立了改进的鲁棒性回差方程,给出闭环系统鲁棒保稳定的充分条件,以及增益和相位裕度描述形式。同时还给出了相应的鲁棒保稳定控制系统设计方法,并辅以打浆过程鲁棒保稳定控制系统的设计实列和仿真结果。 相似文献
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Vehicle active steering control research based on two-DOF robust internal model control 总被引:1,自引:0,他引:1
Because of vehicle’s external disturbances and model uncertainties, robust control algorithms have obtained popularity in vehicle stability control. The robust control usually gives up performance in order to guarantee the robustness of the control algorithm, therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness. The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties. In order to separate the design process of model tracking from the robustness design process, the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization. Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm, on the basis of a nonlinear vehicle simulation model with a magic tyre model. Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance, which can enhance the vehicle stability and handling, regardless of variations of the vehicle model parameters and the external crosswind interferences. Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained. 相似文献
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针对工程中双馈感应电机转子电流控制器参数整定的问题,提出一种利用内模控制理论设计转子电流控制器的鲁棒控制方法。首先定义内模控制的灵敏度函数和互补灵敏度函数,并推导双馈感应电机转子电流控制系统传递函数,建立了转子电流内环的内模数学模型。IMC控制器的设计以平方积分误差值和鲁棒稳定M值为准则,并与传统比例积分控制器进行比较。通过对1.5 MW双馈感应电机的MATLAB/SIMULINK仿真表明,本文方法稳态跟踪精度高、动态响应快、对模型误差和外界干扰具有较好的鲁棒性。最后在11 k W的双馈风机实验平台上验证了所提方法的有效性。 相似文献
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This paper presents a robust adaptive integral backstepping control strategy with friction compensation for realizing accurate and stable control of opto-electronic tracking system in the presence of nonlinear friction and external disturbance. With the help of integral control term to decrease the steady-state error of the system and combining robust adaptive control approach with the backstepping design method, a novel control method is constructed. Nonlinear modified LuGre observer is designed to estimate friction behavior. Robust adaptive integral backstepping control strategy is developed to compensate the changes in friction behavior and external disturbance of the servo system. The stability of the opto-electronic tracking system is proved by Lyapunov criterion. The performance of robust adaptive integral backstepping controller is verified by the opto-electronic tracking system with modified LuGre model in simulation and practical experiments. Compared to the adaptive integral backstepping sliding mode control method, the root mean square of angle error is reduced by 26.6% when the proposed control method is used. The experiment results demonstrate the effectiveness and robustness of the proposed strategy. 相似文献
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This paper proposes a robust internal model control (IMC) based on sliding mode control (SMC) approach for high-performance motion control of a servo motor subject to uncertainties and/or disturbances. The proposed control strategy considers not only the simplicity and intuition of the IMC-based controller for a prescribed tracking performance but also the effectiveness of the SMC scheme to guarantee the robustness of the servo system. Since the performance of the IMC-based controller can be analyzed via a SMC structure, a robust control law based on the SMC technique is introduced into the IMC scheme to decrease the sensitivity to uncertainties and enhance the resistance to disturbances. Moreover, the 2-degree-of-freedom IMC integrating the robust SMC scheme is developed to further improve the control performance. The stability is analyzed based on Lyapunov theory, and the theoretical results show that a prescribed transient tracking performance and a final tracking accuracy of the servo system can be guaranteed. Comparative simulations and experiments are investigated to verify the high performance nature of the proposed control strategy. 相似文献
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Motivated by the limitations of the conventional internal model control (IMC), this communication addresses the design of IMC-based PID in terms of the robust performance of the control system. The IMC controller form is obtained by solving an H-infinity problem based on the model matching approach, and the parameters are determined by closed-loop shaping. The shaping of the closed-loop transfer function is considered both for the set-point tracking and for the load disturbance rejection. The design procedure is formulated as a multi-objective optimization problem which is solved by a specific optimization algorithm. A nice feature of this design method is that it permits a clear tradeoff between robustness and performance. Simulation examples show that the proposed method is effective and has a wide applicability. 相似文献
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The filter term of a PID with Filter controller reduces the impact of measurement noise on the derivative action of the controller. This impact is quantified by the controller output travel defined as the total movement of the controller output per unit time. Decreasing controller output travel is important to reduce wear in the final control element. Internal Model Control (IMC) tuning correlations are widely published for PI, PID, and PID with Filter controllers for self regulating processes. For non-self regulating (or integrating) processes, IMC tuning correlations are published for PI and PID controllers but not for PID with Filter controllers. The important contribution of this work is that it completes the set of IMC tuning correlations with an extension to the PID with Filter controller for non-self regulating processes. Other published correlations (not based upon the IMC framework) for PID with Filter controllers fix the filter time constant at one-tenth the derivative time regardless of the model of the process. In contrast, the novel IMC correlations presented in this paper calculate a filter time constant based upon the model of the process and the user's choice for the closed-loop time constant. The set point tracking and disturbance rejection performance of the proposed IMC tunings is demonstrated using simulation studies and a bench-scale experimental system. The proposed IMC tunings are shown to perform as well as various PID correlations (with and without a filter term) while requiring considerably less controller action. 相似文献
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Optimal solution,quantitative performance estimation,and robust tuning of the simplifying controller 总被引:1,自引:0,他引:1
Recently, a simplifying controller has been proposed based on the principal of simplification of the control system transfer functions, which offers improved control for processes with a large time delay. It is the purpose of this complementary paper to give a comprehensive analysis on the scheme. First, the relationship among the simplifying controller, the Smith predictor, and the internal model control are discussed. Second, an analytical design procedure is developed based on internal model control (IMC) and optimal solution is derived. Third, the problem of estimating the time domain performance of the closed loop system, quantitatively, is discussed. Fourth, a simple robust tuning procedure is presented. Numerical examples are provided to illustrate the proposed method. 相似文献
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Performance assessment of PID and IMC tuning methods for a mixing process with time delay 总被引:1,自引:0,他引:1
A flow process with time delay has been considered for modeling and control. A dilute solution of sodium chloride is used as tracer and an online conductivity measurement unit as sensor and recorder. The objective of the current study is to design control algorithms and present corresponding robust control analysis for the process. The control methodologies considered are (i) conventional PID control and (ii) internal model control (IMC). The control structures are comparatively analyzed using standard robustness measures for stability and performance. Of the two control algorithms, conventional PID and IMC, IMC exhibits faster settling time, no overshoot, better set-point tracking and disturbance rejection, and good robust performance than the PID control scheme. 相似文献