| 基于同伦法的跟踪系统鲁棒控制器设计 |
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| 作者姓名： | 王常虹 刘斌 陈国成 姜春雷 刘均 |
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| 作者单位： | 哈尔滨工业大学空间控制与惯性技术研究中心;东北石油大学电气信息工程学院 |
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| 基金项目： | 黑龙江省青年科学基金项目(QC2011C043);黑龙江省科学技术基金项目(12511015) |
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| 摘 要： | 针对传统控制系统鲁棒控制器阶数较高的缺陷,提出一种具有阶次限制的鲁棒控制器设计方法.利用Ne-vanlinna-Pick插值方法,将鲁棒控制器设计问题转化为求解非线性方程的根,避免选择H∞控制中加权函数.基于同伦法设计低阶鲁棒控制器,通过仿真实验研究该鲁棒控制器下的阶跃响应,以及存在外部干扰时系统的控制性能及干扰抑制能力,并与传统滞后超前校正方法进行比较.结果表明:该控制器不仅能够在保证跟踪精度前提下具有较强干扰抑制能力,而且当系统存在不确定性时,闭环控制系统具有很好的鲁棒性.
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| 关 键 词： | 同伦法 鲁棒控制 Nevanlinna-Pick插值 跟踪系统 阶次约束 干扰抑制 |
Robust controller design of tracking systems based on homotopy method |
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| Authors: | WANG Chang-hong LIU Bin CHEN Guo-cheng JIANG Chun-lei LIU Jun |
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| Institution: | 1.Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin,Heilongjiang 150080,China;2.School of Electric Information Engineering,Northeast Petroleum University,Daqing,Heilongjiang 163318,China) |
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| Abstract: | A novel method of robust controller design with degree constraint is proposed,which has lower degree compared with traditional robust controller.The controller design procedure is transferred to solve nonlinear equations by Nevannlina-Pick interpolation without using weighting functions used in H∞ control.The robust controller based on homotopy method is designed,and the step response,control performances and the disturbance rejection are investigated.It is shown from simulations that the robust controller has abilities of both stronger disturbance rejection ability and better tracking performance compared with common laglead compensator.When additive uncertainty is existing,the closed-loop system has good robustness. |
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| Keywords: | homotopy method robust control Nevanlinna-Pick interpolation tracking system degree constraint disturbance rejection |
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