带有HGO的非线性鲁棒控制器及其参数整定  

Parameter tuning for nonlinear robust controller with high gain observer

作　　者：刘松[1] 李东海[1] 薛亚丽[1] 田玲玲[2] 王传峰[1] 

机构地区：[1]清华大学热能工程系、热科学与动力工程教育部重点实验室,北京100084 [2]北京航空航天大学自动化科学与电气工程学院,北京100083

出　　处：《清华大学学报（自然科学版）》2008年第8期1335-1339,共5页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(50376029)

摘　　要：为克服分散鲁棒控制器设计中输出量各阶导数可测要求的限制,设计了带有高增益观测器的非线性鲁棒控制器。该方法不依赖于对象模型,通过积分环节对系统不可测部分和扰动进行估测,并予以补偿,提高系统的性能鲁棒性和动态性能;减少了控制器的可调参数,提高了实用性。选取典型的单变量非线性系统,基于Monte-Carlo随机试验,采用时间乘误差绝对值积分(ITAE)值作为性能指标,研究控制器参数对系统性能影响,并总结出该控制器的参数整定规则。A nonlinear robust controller with a high gain observer （ONRC） was developed for a decentralized robust controller for use when not every derivative of the output is measurable. The method does not need an exact system model with the unmeasured effects and disturbances estimated from the integral term. The system robustness and dynamic performance are improved by the control system. The numbers of turned controller parameters are linited to improve the practicality. The influence of the controller parameters on the dynamic performance was tested for a classic single input single output nonlinear systems using the integral of time multiplied by the absolute valve of error （ITAE） as the performance index and random Monte-Carlo tests. The parameter tuning rules for the ONRC are summarized based on many simulations.

关 键 词：高增益观测器 非线性 鲁棒 参数整定 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]