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基于 H∞ 理论的控制器用于大惯性大滞后控制对象时具有较好的鲁棒性 ,但是控制器的阶次较高限制了其应用。为解决此问题提出一种基于 H∞ 理论的低阶状态变量控制方案 ,将大惯性大滞后对象等效成多容的惯性环节 ,然后利用最优 Hankel范数近似降价方法将降阶误差处理为附加的模型误差 ,在此基础上设计了无静差的状态反馈控制 ;针对部分状态不可测的问题 ,设计了鲁棒性较强的状态观测器 ;状态反馈和观测器都通过闭环鲁棒性条件设计得到。现场的实际运行表明 ,这种方法是可行的。图 5参 6
The controller based on H∞ theory has good robustness for large inertia and large hysteresis control objects, but the higher order of the controller limits its application. In order to solve this problem, a low-order state variable control scheme based on H∞ theory is proposed. The large inertia large lag object is equivalent to a multi-capacity inertial link, and then the optimal Hankel norm approximate price reduction method is used to process the reduced order error into Additional model error, based on which the state feedback control with no static difference is designed. For the problem that some states are not measurable, a robust observer is designed. The state feedback and observer are both closed-loop robust Condition design get. The actual operation of the site shows that this method is feasible. Figure 5 reference 6