挠性系统的控制设计和H_∞回路成形法  

Control design of flexible systems and H-infinity loop-shaping method

作　　者：孟范伟[1] 何朕[1] 王广雄[1] 周荻[1] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,黑龙江哈尔滨150001

出　　处：《控制理论与应用》2013年第8期1014-1020,共7页Control Theory & Applications

基　　金：国家自然科学基金重点资助项目(61034001);国家自然科学基金资助项目(61174203;60374027)

摘　　要：挠性系统的控制设计与具体的挠性特性是相关的,从控制角度将挠性系统划分为轴系传动机构、桁架结构和卫星太阳能帆板的薄板型结构3类.其中薄板型结构挠性系统的挠性特点明显,文中指出H∞回路成形法能有效解决薄板型结构挠性系统设计上的难点,即在幅频特性急剧下降的频段内保证系统的稳定性.一般H∞控制理论中,H∞范数是系统的性能指标.但H∞回路成形法中的H∞范数表示的则是闭环系统的稳定裕度.通过挠性系统的算例说明,H∞回路成形法并不是给定摄动范围下的设计问题,因此在鲁棒性设计这一概念上也不同于常规的H∞控制设计,有其自己的含义.The control design methodology for flexible systems is closely related with the specific flexible characteristics. From the control point of view, flexible systems can be divided into three categories, i.e. the driving-shaft system, the truss structure, and the panel-like structure such as solar panels of the satellite. The panel-like structure is a highly flexible structure exhibiting a sharp decline in the amplitude-frequency characteristics within the system bandwidth. The design difficulties can be treated effectively with the H-infinity loop shaping design. It is pointed out that the performance index of the H-infinity-norm in the H-infinity loop shaping design is not the performance index of the system in the general sense, and is just the stability margin of the closed-loop system. The design example also shows that the robustness of the design is not the robustness against the coprime factor perturbations. The robustness of the H-infinity loop shaping design has its own meanings and is different from the common conception.

关 键 词：挠性系统 H∞回路成形 H∞范数 鲁棒性 性能指标 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]