动态反馈解耦规范型时域结构特征分析及变换矩阵的构造  

Time Domain Structure Characteristics Analysis and Transformation Matrix Construction of the Decoupling Canonical Form by State Feedback

作　　者：任夏楠[1] 邓兆祥[1,2] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400030 [2]中国汽车工程研究院股份有限公司汽车噪声振动与与安全技术国家重点实验室,重庆400039

出　　处：《自动化学报》2012年第12期1896-1905,共10页Acta Automatica Sinica

基　　金：重庆市科委科技攻关项目(2009AB6021)资助~~

摘　　要：从可解耦线性多输入多输出(Multi-input multi-output,MIMO)系统的结构特性指数出发,根据此类系统解耦后系统的可观测矩阵与基本向量矩阵的秩的关系,提出了按照这种关系将解耦规范型划分为4大类的观点,同时给出了一种针对各类积分型解耦系统构造相应的非奇异变换矩阵的构造方法.分析了解耦规范型及其变换矩阵的时域结构形式,通过一系列定理的证明,从一般意义上解释了解耦规范型的结构与变换矩阵的关系,并通过一个数值实例验证了所提出方法的正确性及可行性.In this paper, based on the structure characteristic index of linear multi-input multi-output （MIMO） system which can be decoupled, we propose that the decoupling canonical form of the linear MIMO system can be divided into 4 classes according to the correlation between the rank of observable matrix of the decoupling system and the rank of basic vector matrix. Meanwhile, we put forward an approach for obtaining different nonsingular transformation matrixes for different integral decoupled systems. Then, we analyze the time domain structures of the decoupling canonical form and the transformation matrixes, and give an elaborate proof of a series of theorems in order to interpret the correlation between the decoupling canonical form and the transformation matrix. Finally, the validity and feasibility of the method are verified by a numerical example.

关 键 词：解耦规范型 结构特性指数 可观测性 积分型解耦系统 动态反馈 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]