Model-based robust controller design method

Abstract

The invention provides a model-based robust controller design method. In view of uncertain changes existing in a controlled object, through comparing errors between a desired closed-loop model and anactual closed-loop model, a corresponding error weight function is designed, the constraints of drive input are also considered, and the robust controller of the system is solved according to the twokinds of performance indicators. The core is a mode of designing the error weight function by using the errors between desired closed-loop output and actual closed-loop output and a method of designing a drive input weight function. The method is simple in design, good in robust performance, and can achieve a specified closed-loop bandwidth, which can effectively guarantee the stability of the system under the uncertainty of the object.

Description

technical field [0001] The invention belongs to the field of controller design, in particular to a model-based robust controller design method, which is mainly used for robust control when a controlled object changes. Background technique [0002] Zames proposed the H∞ control principle in 1981 for the shortcomings of the poor robustness of the LQG control method. Doyle made a major breakthrough in the field of H∞ control theory, first reducing the standard H∞ control problem to the solution of two algebraic Riccati equations. At present, the robust control design method based on H∞ has been widely studied and applied. Xie Lei proposed the optimal adjustment theory, and analyzed the relationship between the mixed sensitivity problem and the robust control system design. UMENO,T proposes a robust design method based on parameterization of two degrees of freedom controllers for the variation of DC servo motor parameters. Aiming at the problem of structural uncertainty and u...

AI Technical Summary

Problems solved by technology

No matter what kind of H∞ improved algorithm is adopted, the key core is still how to reasonably design the index and weight function of the system. Although the traditional H∞ method can finally meet the design requirements of system robustness, it cannot specify the closed-loop bandwidth of the system. The closed-loop bandwidth of the system is also the core index of the system.

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