挠性系统基于相位控制的H_∞鲁棒设计  

H_∞ rubost design of flexible systems based on phase control

作　　者：孟范伟 吕晓永 刘胤圻 沙晓鹏 庞爱平 

机构地区：[1]东北大学秦皇岛分校控制工程学院,河北秦皇岛066004 [2]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《控制与决策》2018年第2期371-375,共5页Control and Decision

基　　金：河北省高等学校科学技术研究项目(ZD2016203);东北大学秦皇岛分校博士启动基金项目(XNB201608;XNB201609;XNB201610;XNB201411)

摘　　要：提出一种加权的H_∞优化设计方法来设计挠性系统的鲁棒控制器,以解决采用H_∞回路成形法设计时控制器不稳定且鲁棒性差的问题.利用挠性模态所对应闭环极点的配置来实现相位控制思想,同时允许高频部分的闭环极点与期望极点有一定差别,弱化严格正实的约束.将相位控制与H_∞优化求解相结合,通过所求得的控制器实现期望的闭环极点.所提出的设计方法灵活且设计过程物理意义明确.最后通过两个仿真算例验证所提出方法的可行性.A weighted H∞ optimization method is proposed to design a robust controller for the flexible system, which solves the problem of unstable characterristics of controller and poor robustness that happens during the design of H∞ loop shaping method. The idea of phase control is realized by the configuration of the closed-loop poles corresponding to the flexible modes and the closed-loop poles of the high-frequency parts are allowed to differ from the expected poles,which weakens the strict positive real constraints. Combined with the phase control and H∞ optimization, the desired closed-loop poles can be realized by the controller. The proposed method has the advantage of flexibility, and a clear physical meaning in the design process. The feasibility of the proposed method is verified by two simulation examples.

关 键 词：挠性系统 相位控制 H∞优化 鲁棒性 局部正实性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]