不确定干扰的估计与抑制

项目名称： 不确定干扰的估计与抑制

项目编号： No.61203049

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 文新宇

作者单位： 太原科技大学

项目金额： 25万元

中文摘要： 本项目拟研究复杂系统中不确定干扰的分类，观测以及抵消和抑制，从而实现系统的高精度控制。干扰的存在会给控制器设计和动态性能带来影响，干扰的抵消和抑制是提高控制质量的关键问题。实际系统中干扰本身往往具有时变性和不确定性，这种现象又和系统中的非线性不确定性以及多变量耦合相互影响，干扰估计理论研究上长期缺乏针对这一问题的处理方法，对干扰的分析具有比较严格的限制条件，导致抗干扰性能具有较大保守性。 本项目分析系统中存在的各种干扰模型特征，对其进行分类建模，针对不确定干扰构造新型的观测器结构，发展基于扰动观测器控制理论。该方法能够提高系统抗干扰性能，简化控制器设计，避免偏微分方程求解，通过估计未知、不确定或时变干扰并结合相应的干扰抑制手段能够有效地解决一系列抗干扰理论瓶颈问题，具有强鲁棒性以及快收敛高精度特点，适用于工程应用。项目进一步拟将所提出的理论方法应用到磁轴承系统和机械臂系统完成工程实验验证。

中文关键词： 干扰观测器；干扰预估；干扰抵消；输入时滞；虚拟干扰

英文摘要： This project studies the disturbance classification, estimation and attenuation such that system high precision control can be achieved. As we known disturbances affect controller design and dynamic properties seriously in many respects, disturbance rejection and attenuation is an efficient technique to improve control performance. In the majority of real applications, disturbances show time-varying and uncertainty interacting with system un-modeled dynamics or multi-variable coupling. There lacks of theoretical approach with respect to disturbance estimation for long term, strict conditions or assumptions are made for the analysis of disturbances, resulting in a conservative anti-disturbance design. This project analyzes the disturbances included in the system model, classifies disturbance as types of signals according to its properties, and constructs new structure of observer for uncertain disturbances, develops disturbance observer based control (DOBC) theory.The ideology presented aims to improve anti-disturbance performance to large extend, avoid the solution of partial differential equations (PDE) and simplify the controller design simultaneously. The algorithm characteristiced with robustness, fast convergence and high accuracy is feasible for engineering applications, and can resolve series of theoretic

英文关键词： disturbance observer；disturbance prediction；disturbance rejection；input time-delay；virtual disturbance