基于干扰观测器的二次型最优控制器设计  

Design of Quadratic Optimal Controller Based on Disturbance Observer

作　　者：刘兴松[1] 巫亚强[1] 史国清[1] 忽麦玲[1] 

机构地区：[1]西北机电工程研究所,陕西咸阳712099

出　　处：《火炮发射与控制学报》2007年第4期47-50,共4页Journal of Gun Launch & Control

摘　　要：传统伺服系统的控制方法复杂,响应速度慢,而外部干扰对系统性能产生很大的影响,降低系统的跟踪精度。通过分析伺服系统结构,根据最优控制理论,利用最小值原理设计二次型性能指标下的最优控制器,使系统性能指标最优,且提高系统快速响应性,实现在最短时间内跟踪目标的目的;同时,针对外部干扰的影响,应用干扰观测原理设计干扰观测器,以减小或消除外部干扰对系统性能的影响。通过仿真表明,该方法既满足伺服系统的跟随特性,又具有很好的抗干扰能力。The control method of traditional servo system is complicated, the response speed is slow, and external disturbance has influence on system performances and thus reduces the tracking accuracy of the system. Therefore, by means of analysis of servo system structure, according to the optimal control theory and minimum value theory, the optimal controller was designed on the basis of linear quadratic specifications. The method made the system performance index up to minimum, improved the fast responsiveness of the system, and realized the aim of tracking target within the shortest time. Simultaneously, aimed at disturbance influence, a disturbance observer was designed by means of disturbance observation principle so as to lessen or eliminate disturbance influence on system performances. Simulation results indicated that the method can not only satisfy performance requirements of servo system, but also has good capability of anti-interference.

关 键 词：自动控制技术 二次型指标 最优控制器 干扰观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]