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针对标准H回路成形设计权函数选取困难、所得控制器阶次高的缺点,提出了一种给定结构低阶鲁棒控制器设计方法。该方法综合了低阶权函数优化和静态H控制器,只需设计者给出成形后被控对象奇异值上下界约束的控制点坐标,以及期望的控制器阶次和结构,便可通过基于线性矩阵不等式技术的迭代优化,得到满足预定控制性能要求且使得鲁棒稳定裕量最大化的控制器。运用所提方法设计了蒸汽发生器水位对象的二阶鲁棒控制器。在水位设定值阶跃变化、蒸汽流量阶跃扰动和运行工况点变化的情况下,进行了对比仿真试验。结果表明,所设计的控制系统取得了良好的控制性能,且鲁棒稳定性优于自抗扰控制(active disturbancerejection control,ADRC)策略或双PI控制策略设计的控制系统。
Aiming at the difficulty of choosing the weight function of standard H loop forming design and the high order of the controller, a design method of low order robust controller with given structure is proposed. The method integrates low-order weight function optimization and static H-controller. The designer only needs to give the coordinates of the control points constrained by the upper and lower bounds of the singular value of the controlled object after forming, and the desired controller order and structure, Iterative optimization of linear matrix inequality techniques to obtain a controller that satisfies the pre-determined control performance requirements and maximizes the robust stability margin. The second-order robust controller of steam generator water level object is designed by using the proposed method. Under the condition of the step change of the water level, the step disturbance of the steam flow and the change of the working condition point, the contrast simulation test was carried out. The results show that the designed control system has good control performance and robust stability is better than the control system designed by ADRC or PI control strategy.