Fuzzy-LQR位置伺服控制器设计与抗扰性分析  

Design and Simulation of Fuzzy-LQR Position Servo Controller and Its Anti-disturbance Analysis

作　　者：臧永利 王宏文[2] 

机构地区：[1]深圳比亚迪股份有限公司,广东深圳518118 [2]河北工业大学电气与自动化学院,天津300130

出　　处：《现代建筑电气》2011年第11期39-43,共5页Modern Architecture Electric

基　　金：河北省科学技术研究与发展计划项目(06212174D)

摘　　要：在位置给定曲线具有不确定性的位置伺服系统中,为了满足较高的跟踪精度,在采用二次型全部状态变量构成的最优线性反馈的基础上,利用模糊推理的方法对输入信号进行处理以起到LQR控制器中前置滤波器的作用,并对此控制器的抗扰性进行了分析。仿真结果表明:由此构成的Fuzzy-LQR复合控制器的位置跟踪精度较之PID控制方式提高了5倍,功率消耗是其1/3;加入前馈补偿器后提高了系统的抗干扰能力,且能量损耗只比原系统增加了6.14%。指出在位置跟踪精度决定产品质量的场合,Fuzzy-LQR复合控制器有着广阔的应用前景。When the set value of the position serve system is uncertain, in order to meet the high precision position tracking, the fuzzy reasoning method of input signal processing is adopted based on the LQR optimal linear feedback of the all-state variables. And some anti-disturbance analysis were done. The simulation results showed that the position tracking error of the composite Fuzzy-LQR controller is only one-fifths as much as that of PID control and the power consumption has also decreased two-third. The system＇ s anti-interference ability has greatly improved with the use of feedforward compensator and the power consumption has increased by 6.14% over before the reform. Fuzzy-LQR compound controller should have broad application prospects.

关 键 词：LQR控制 SIMULINK仿真 前馈补偿器 抗扰性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]