控制系统的脆弱性与鲁棒性  

Fragility and robustness of the control system

作　　者：何朕[1] 饶丹[1] 王广雄[1] 刘志远[1] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2011年第4期80-84,共5页Electric Machines and Control

基　　金：国家自然科学基金重点项目(61034001)

摘　　要：针对脆弱性有不同的理解,提出了一种新的关于脆弱性的概念。脆弱性是指一个优化设计的控制系统却失去了稳定裕度。文中对此进行了分析和说明,指出这脆弱性问题并不是因为控制器的脆弱性造成的,其根本的原因是在最优控制本身,是最优设计的手段或所用的判据造成的。因为H∞优化设计中并没有用到稳定裕度的概念。在多入多出系统的设计中由于用的是奇异值而不是各个物理变量,所以就有可能忽略了单个回路的鲁棒稳定性问题。这个新的脆弱性概念也不同于一般控制器参数摄动下的鲁棒性问题,将有助于理解一个设计良好的系统在实际调试中可能出现的稳定性问题,所以对理论和实践都有重要意义。文中附有设计分析的例子,其中的一个例子取自作者在实验中所遇到的问题。A novel concept of the fragility of a control system is presented,though there are some different understandings about the fragility.Fragility means that the stability margin of a system is lost during an optimal design.It is pointed out in the paper,that the fragility problem is not caused by the controller fragility,and the real cause of fragility is the design tools or criteria used in the optimal design.For example,in the H∞ optimal design,the concepts of stability margin are totally absent during the design process.In MIMO system design,the singular values are used instead of the individual physical variables,so the robust stability problem of the individual loop may be ignored.This concept of fragility is different from the robustness against the parameter uncertainty of the controller.And it is helpful for understanding of the phenomenon that a well-designed system may not be stable in practice and cannot work.Therefore it is important for both theory and practice.Design examples are also presented,one of which is from the authors＇ own experience.

关 键 词：脆弱性 鲁棒性 稳定裕度 H∞优化设计 球-杆系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]