3D刚体摆的鲁棒控制器设计和比较分析  

Design and comparative analysis of the robust controller for the 3D Rigid Pendulum

作　　者：李金[1] 戈新生[1] 

机构地区：[1]北京信息科技大学自动化学院,北京100192

出　　处：《北京信息科技大学学报（自然科学版）》2015年第1期26-30,共5页Journal of Beijing Information Science and Technology University

基　　金：国家自然科学基金资助项目(11072038)

摘　　要：3D刚体摆是研究刚体复杂旋转动力学与控制问题的典型系统。针对3D刚体摆受外界扰动以及转动惯量的不确定性,根据鲁棒H∞控制理论,采用线性矩阵不等式(LMI)的方法设计了一种状态反馈H∞控制律。仿真结果表明,鲁棒控制器对系统参数的变化具有较强的鲁棒性。与PID控制器比较,鲁棒控制器对于3D刚体摆控制系统具有较好的动态特性和稳定性。The 3D Rigid Pendulum is a typical system used to study complex rotational dynamics and control problems of the rigid body. A state feedback control law of H∞ is designed based on the robust control theory of H∞ to deal with the external disturbance and the uncertainty of rotary inertia of 3D Rigid Pendulum by using the linear matrix inequality （LMI）. The results of simulations show that the robust controller has a strong robustness to the changes of the system parameters. According to the analysis and comparison with the PID controller, the robust controller has more dynamic and more stable performance for the 3D Rigid Pendulum.

关 键 词：3D刚体摆 线性矩阵不等式 鲁棒控制 PID控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]