一种多变量不确定系统的H_∞鲁棒解耦控制器设计方法  

A Method for Designing H_∞ Robust Decoupling Controller for Multivariable Systems with Uncertainties

作　　者：甘永梅[1] 周凤岐[1] 

机构地区：[1]西北工业大学航天工程学院,陕西西安710072

出　　处：《西北工业大学学报》2000年第2期324-327,共4页Journal of Northwestern Polytechnical University

摘　　要：研究了一种综合考虑闭环动态稳定性、干扰抑制性及鲁棒解耦性的 H∞ 鲁棒控制器的设计问题。定义了鲁棒解耦的概念 ,给出了存在结构不确定性情况下控制器满足鲁棒性和鲁棒解耦的充要条件和递推算法。仿真实例表明 ,用这种设计方法得到的控制器能满足鲁棒解耦性。For multivariable systems with uncertainties, it is important to design controllers which minimize interaction and at the same time maintain a specified degree of robust stability. Ref.[1] provide a l 1 approach to design decoupler, but the l 1 approach does not allow one to directly control the amount of interaction in the system. We propose a controller design method to overcome the above mentioned shortcoming. In section 1, we define a system evaluation criterion(eq.4) which takes into account robust decoupling, dynamic stability and perturbation reduction at the same time. Such a criterion, to our best knowledge, has not been reported in the open literature. In section 2, we give the necessary and sufficient conditions(eqs.8 through 10) for H ∞ robust decoupling controller to satisfy the above mentioned criterion. Then we give 8 steps for designing such a controller. Fig.3 give the step response of a simulation system as shown in fig.2. Fig.3b shows that the system step response is not interactive in the presence of uncertainties. It also shows that the system is decoupled and stable.

关 键 词：鲁棒解耦 鲁棒控制器 多变量不确定系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP273[自动化与计算机技术—控制科学与工程]