无模型控制律的基本形式收敛性分析  

Convergence Analysis of Model Free Control Law with Primary Pattern

作　　者：于志刚[1,2] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001 [2]黑龙江大学电子工程重点实验室,黑龙江哈尔滨150080

出　　处：《控制工程》2009年第2期130-132,共3页Control Engineering of China

基　　金：黑龙江大学青年科学基金资助项目(QL200706)

摘　　要：在实时建模与反馈控制一体化的思想下,利用"泛模型的基本形式",对无模型控制律的收敛性进行了定量和定性的分析,给出了控制律收敛的必要条件、特征参量选择方法以及影响收敛特性的因素。从理论上,进一步证明了无模型控制器设计方法的合理性,并为控制器的设计提供理论依据。分析结果表明了在考虑控制系统设计的建模问题时,可以脱离开"先建模后设计"的经典途径,只要从所谓的泛模型出发,所设计的无模型控制律的收敛性将得到保证。Based on the perimer form of unvisial model and the thought of integration of real-time modeling and feedback control, the convergence of model free control law is analyzed quantitatively and qualitatively. The necessary condition of convergence on control law, the choice of character parameter and the effective factor of convergence are given. The rationalities of model free control design method are proved theoritically. A theoritical basis is provided for the model free control design. The analysis results show that the convergence of the model free contrl law is guaranteed and the thought of design in advance of modeling can be pass away, while dealing with the design of control systems.

关 键 词：无模型控制 收敛性 泛模型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]