基于扰动和模型误差补偿的黄金分割自适应控制  

Golden-section adaptive control based on disturbances and model error compensations

作　　者：钟华[1] 王永[1] 邵长星[1] 

机构地区：[1]中国科学技术大学自动化系,合肥230027

出　　处：《计算机应用研究》2015年第8期2343-2346,共4页Application Research of Computers

基　　金：国家自然科学基金资助项目(61004017);中央高校基本科研业务费专项资金资助项目(WK2100100016)

摘　　要：针对刚柔耦合系统模型阶次较高和模型建立过程较为复杂的问题,采用特征建模理论来简化建模过程。在特征模型基础上,引入一种由黄金分割控制器、逻辑积分控制器和逻辑微分控制器组成的组合控制器,并且针对组合控制器参数调节较难的问题,应用广义最小方差知识对黄金分割自适应控制器参数进行优化,从而有效简化调参过程。考虑系统扰动和特征建模误差,设计一个扩张状态观测器对其进行估计并进行相应补偿。最终,实验表明该方法能够实现角度的快速跟踪,同时能够快速抑制柔性梁的振动。Considering the problem of the high order and complexity modeling process for rigid-flexible couple system, characteristic modeling theory was used to simplify the modelling process. On the basis of characteristic model, this paper introduced a combined controller consisting of golden-section adaptive （GSA） controller, logic integral controller （ LIC ） and logic derivative controller （LDC）. In addition, considering the complexity of adjusting controller＇ s parameters,it used the method of generalized minimum variance （GMV） to optimize the controller＇ s parameters. This could simplify the process of adjusting parameters effectively. Moreover, considering the system disturbances and model errors,it designed an extended state observer （ESO） to evaluate the system disturbances and model errors and to compensate for the system. Finally, experiment results indicate that the proposed method can track the angular more fast and can suppress the vibration of the flexible beam more quickly.

关 键 词：特征建模 黄金分割控制器 逻辑积分控制器 逻辑微分控制器 广义最小方差 扩张状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]