项目名称: 基于重复控制补偿的非线性扰动抑制主动控制
项目编号: No.61203010
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: 周兰
作者单位: 湖南科技大学
项目金额: 24万元
中文摘要: 本项目针对一类含有周期扰动的非线性系统,利用重复控制的学习机制, 提出一种基于重复控制补偿的扰动抑制主动控制方法。通过分析扰动对系统性能的影响,建立基于重复控制补偿器、扰动观测器和反馈控制器的扰动抑制控制系统结构模型;在可以分别调节控制和学习的条件下,研究重复控制补偿器和反馈控制器参数与系统稳定性和扰动抑制性能之间的关系,提出重复控制补偿器和扰动观测器的设计方法;针对同时含有周期扰动和非周期扰动的非线性伺服系统,研究基于等价输入干扰的系统结构,以及满足系统稳定性、扰动抑制性能和控制性能的条件,设计等价输入干扰估计器和重复控制补偿器的参数整定算法,提出基于等价输入干扰的非线性扰动抑制重复控制系统设计方法;通过计算机仿真和机电控制实验,探讨非线性扰动抑制重复控制方法的应用。本项目的研究将提供一种有效、实用的非线性扰动抑制方法,进一步促进扰动抑制主动控制技术的发展,具有重要的理论意义和应用价值。
中文关键词: 重复控制;扰动抑制;等价输入干扰;二维模型;线性矩阵不等式
英文摘要: Exploiting the learning mechanism of repetitive control, this project develops a disturbance-attenuation active control method based on repetitive control compensation for a class of nonlinear plants subject to periodic disturbance. First, exploring the effect on the system performance of the disturbance, we establish a model of the disturbance-attenuation control system. It contains a repetitive-control compensator, a disturbance observer and a feedback controller. After that, providing that control and learning actions can be adjusted preferentially, we examine the relationships between the parameters of the controllers, the system stability and disturbance-attenuation performance. Next, we derive a design method for the repetitive-control compensator and the disturbance observer. Based on these results, we further devise the control system structure employing equivalent input disturbance (EID) for a class of nonlinear servo systems that contain both periodic and nonperiodic disturbance; and investigate the conditions of system stability, disturbance-attenuation performance and control performance. Then, we present a method of tuning the parameters of the EID estimator and the repetitive-control compensator and consider the problem of designing an EID-based repetitive-control system for rejecting nonlinear dis
英文关键词: repetitive control;disturbance rejection;equivalent input disturbance;two dimensional model;linear matrix inequality