基于H_∞范数优化的干扰观测器的鲁棒设计  

Design of Disturbance Observer with Robust Performance Based on H_∞ Norm Optimization

作　　者：尹正男[1] 苏剑波[1] 刘艳涛[1] 

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240

出　　处：《自动化学报》2011年第3期331-341,共11页Acta Automatica Sinica

基　　金：国家自然科学基金重点项目(60935001);教育部新世纪优秀人才支持计划(NCET-06-0398)资助~~

摘　　要：研究干扰观测器的鲁棒优化设计方法,应用H∞范数定义干扰观测器的优化性能评价函数,把低通滤波器的设计问题转换为H∞闭环回路成形问题.通过适当处理相对阶次条件等约束,把带有约束的回路成形问题转换成无约束的H∞标准问题,然后利用H∞标准问题的求解算法设计滤波器.此外,探讨了性能与频率加权函数的关系,并在此基础上提出了加权函数的选取方法.实验结果证明该方法设计简单,且具有最优性和系统性.This paper proposes a robust design method of disturbance observer （DOB）,employs the H∞ norm to define the optimization performance evaluation function of the DOB,and transforms the low-pass filter design into an H∞ closed loop shaping problem.By appropriate processing the constraints such as relative order condition etc.,the loop shaping problem with constraints can be transformed into an H∞ standard problem without constraints,and then the algorithms for standard problems can be applied to the design of the filter.Furthermore,the relationship between performance and frequency weighted functions is investigated,based on which the selection method of weighted functions is presented.The experimental results validate the optimality and systematicness of the proposed method,which is easy to implement.

关 键 词：高性能鲁棒运动控制 干扰观测器 H∞标准控制问题 低通滤波器 2自由度控制系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]