直流伺服电机不确定性系统鲁棒控制器研究  

Robust controller design of DC servo motor uncertainty system

作　　者：周玉松[1] 陈旭东[1] 程放[1] 冯攀[1] 

机构地区：[1]安徽新闻出版职业技术学院印刷包装系,安徽合肥230601

出　　处：《工程设计学报》2015年第6期589-595,601,共8页Chinese Journal of Engineering Design

基　　金：安徽省高等学校省级自然科学研究重点项目资助(KJ2014A103)

摘　　要：针对电机参数变化、外界扰动及建模误差等引起的模型不确定性,基于μ控制理论,尝试设计具有较强鲁棒性的直流伺服电机速度控制系统.首先通过引入虚拟不确定块等将系统鲁棒性能问题转化为鲁棒稳定性问题;然后依据干扰抑制理论,将直流伺服电机速度控制系统的设计转化为一般框架内的μ控制问题,并通过求解适当的加权函数使控制系统的性能满足设计要求;最后运用D-K迭代的μ合成算法求得17阶μ控制器,并运用Hankel奇异值及主导极点法予以简化.鲁棒性能分析及仿真结果表明:所设计的4阶μ控制器性能优异,对电机参数等的摄动具有较强的鲁棒性.Aiming at the problem of model uncertainty caused by the change of external disturbance,DC motor conditions and the modeling error,robust DC servo motor speed control system was designed usingμcontrol theory.Firstly,by introducing fictive uncertainty,the robust performance problem was transformed into robust stability problem of augmented system.Secondly,the DC servo motor speed control system design was constructed into the general framework ofμsynthesis according to the principle of interference suppression,and weighting functions was selected properly to get the augmented controlled object.Lastly,the D-K iteration algorithm was used to solve the seventeen-order controller,and this controller was reduced to fourth-order successfully using the Hankel singular values and dominant-pole procedure.Robustness analysis was performed in term of the controller,results showed that the reduced-orderμcontroller yielded the desired robust stability as well as the robust performance.

关 键 词：直流伺服电机 不确定性系统 鲁棒控制器 鲁棒性能 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]