挖掘机动臂的LPV变增益H_∞控制器设计  

LPV Gain Scheduling H_∞ Controller Design for Excavator Boom

作　　者：邵辉[1] 庄亚惠 胡伟石[2] 孙祥云[3] 胡艳丽[1] 

机构地区：[1]华侨大学信息学院,福建厦门361021 [2]华侨大学实验室与设备管理科,福建厦门361021 [3]河北邢台职业技术学院科技发展中心,河北邢台054000

出　　处：《控制工程》2017年第1期166-170,共5页Control Engineering of China

基　　金：第48批留学归国人员科研启动基金;福建省科技计划项目(2015H0026);泉州市科技计划项目(2013Z34)

摘　　要：以挖掘机动臂系统为研究对象,提出一种基于线性变参数(LPV)的H∞变增益控制算法。首先,通过脉冲响应技术得到各工作点的简化数学模型,建立了基于神经网络辨识模型变参数的全域LPV模型,然后利用凸分解技术得到模型的顶点表示,采用线性矩阵不等式(LMI)方法,对各个顶点分别设计满足H∞性能和动态特性的状态反馈控制器,综合顶点控制器得到全局的变增益控制器。仿真结果表明,与PID控制器相比,该控制器在挖掘机全域工作范围内具有很好的控制性能。Taking the excavator boom system as the research object, a design method of Hoo controller basedon linear parameter varying （LPV） model is presented. Firstly, the simplified mathematical model of eachworking-point is obtained by the impulse response technique. Based on these models, a global LPV modelwith the variable parameters identification is built by utilizing the neural network. Then, the vertexrepresentation for the LPV model is obtained via the convex decomposition technique, and the state feedbackcontrollers satisfying Ho- performance at every vertex are designed by utilizing linear matrix inequality （LMI）approach. Furthermore, the global controller is built by designing appropriate convex decompositioncoefficients. The simulation results demonstrate that the controller has better performance than the PIDcontroller as the excavator operating in the global working range.

关 键 词：挖掘机动臂 线性变参数 变增益H∞控制器 线性矩阵不等式 状态反馈 

分 类 号：V233.7[航空宇航科学与技术—航空宇航推进理论与工程]