大型复合随动平台协调控制  

Coordinated Control for the Large-scale Compound Servo Platform

作　　者：于占东[1] 李广[1] 吕世良[2] 唐江河 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [3]北京自动化控制设备研究所,北京100074

出　　处：《控制工程》2012年第3期377-380,384,共5页Control Engineering of China

基　　金：国家自然科学基金(No.60804009);教育部高等学校博士点专项基金(No.20070217034);哈尔滨工程大学基础研究基金项目(No.HEUFT05063)

摘　　要：针对一类大型复合随动平台的协调控制问题,利用频率分离原理,对2个执行机构的跟踪任务进行合理分配,实现平台精确跟踪。根据复合随动平台系统的性能要求和平台执行机构本身的约束条件,设计了特定的加权传函矩阵,通过H∞混合灵敏度方法,求解系统的鲁棒控制器。采用平衡截断法对所设计的H∞控制器进行降阶处理,并讨论了降阶控制系统的稳定性。仿真结果表明,基于频率分离的H∞混合灵敏度设计方法,可实现复合平台精确跟踪,并可以较好地解决复合随动平台的协调控制问题;平衡截断法可以有效地对控制器降阶,而对闭环控制效果带来的损失较小。The coordinated control based on frequency separate principle is presented and the precision trace of the large-scale compound servo platform is implemented. Servo control task is assigned to two actuating mechanisms of compound platform properly. The coordinated controller is designed by the H∞ mixed sensitivity approach, and the special weighted transfer function matrixes are chosen according to the system performance and restriction by frequency separate principle. The balanced reduction method is used. The stability of lower-order closed-loop system is analyzed. The simulation result shows the effectivity of the H∞ mixed sensitivity control strategy based on frequency separate principle for coordinated control problem of compound servo platform. At the same time, the simulation result shows that the controller order is reduced without too much closed-loop control effect by balanced reduction method.

关 键 词：复合随动平台 频率分离 协调控制 H∞混合灵敏度 控制器降阶 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]