具有参数不确定性伺服系统的H_∞自适应控制器设计  

An adaptive H_∞ controller design for servo system with parameters perturbation

作　　者：郭庆鼎[1] 于善涛[1] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110023

出　　处：《沈阳工业大学学报》2006年第5期518-521,529,共5页Journal of Shenyang University of Technology

基　　金：国家自然科学基金资助项目(59875061)

摘　　要：利用一个具有鲁棒性能的H∞自适应控制器对永磁同步电机进行跟踪控制,通过利用一个参数调节器和一个前馈补偿,减小了参数摄动和外部干扰对系统跟踪性能的影响.面对大的参数摄动和外部干扰,一旦H∞性能能够满足,跟踪性能便能保证,鲁棒性跟踪问题被转化为一个非线性H∞问题.为解一个非线性H∞问题,将参数调节器、H∞反馈控制器和补偿控制综合到一起,通过一个二次存储函数的选择来完成,最后通过跟踪阶跃响应的仿真结果证明了H∞自适应控制器的有效性.An H∞ adaptive controller with a pre-specified H∞ property is proposed for the tracking control of permanent magnet synchronous motors. A feed-forward compensation and a parameter tuner to reduce the influence of uncertainties and external disturbances are introduced. In face of uncertainties and external disturbances, once H∞ property is satisfied, the capability to track input is achieved. The robust performance control is formulated as a nonlinear H∞ problem. In order to solve the problem of nonlinear H∞, a parameter tuner and a H∞ feed-backward controller and compensation control are integrated. The synthesis is achieved by choosing a quadratic storage function. The simulation is conducted to demonstrate the effectiveness of the proposed adaptive H∞ controller.

关 键 词：永磁同步电机 H∞自适应控制器 参数摄动 鲁棒性 二次存储函数 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]