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针对MIMO系统的轨迹跟踪,提出一种基于鲁棒开环解耦的系统逆二自由度(2DOF)控制方法.该方法通过鲁棒开环解耦解决MIMO系统的耦合问题,利用系统逆2DOF控制保证轨迹跟踪性能.首先提出一种保证预补偿器阶数最小和解耦系统鲁棒性的鲁棒开环解耦方法;然后结合鲁棒开环解耦和系统逆2DOF控制,给出系统逆前馈控制和H_∞混合灵敏度鲁棒反馈控制器的设计方法;最后通过设计实例及仿真结果验证了该控制方法的有效性.
Aiming at the trajectory tracking of MIMO system, a system based on robust open-loop decoupling for inverse 2DOF control is proposed, which solves the coupling problem of MIMO system by robust open-loop decoupling. By using inverse 2DOF control First, a robust open-loop decoupling method is proposed to ensure the minimum order of the precompensator and the robustness of the decoupled system. Then, based on the robust open-loop decoupling and inverse 2DOF control, the system inverse Feedforward control and H_∞ hybrid sensitivity robust feedback controller design method. Finally, the effectiveness of this control method is verified by design examples and simulation results.