一级倒立摆的μ分析和μ综合研究  

μ analysis and synthesis of inverted pendulum

作　　者：张义辰 ZHANG Yi-chen(Institute of Mechanical Engineering,Shanghai University of Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《机电工程》2018年第4期425-430,共6页Journal of Mechanical & Electrical Engineering

摘　　要：针对设计一级倒立摆系统的H_∞鲁棒控制器时出现的保守性问题,提出了一种以结构奇异值μ理论为依据的μ分析和μ综合方法。首先进行了倒立摆系统的标准H_∞控制器设计,同时运用μ分析的方法证明了系统H_∞控制器存在保守性这一事实,指出了问题的解决方向;其次,针对出现的问题,运用D-K迭代算法设计了修正后的H_∞控制器并加入原系统,修正了原控制器存在的问题;最后从仿真实验结果和与不同干扰抑制度的H_∞控制结果的比较等方面,验证了新方法对降低保守性的实际效果。研究结果表明:新方法降低了原控制器的保守性,同时改善了输出质量,方法有效。Aiming at the conservatism problem of designing h-infinity robust controller on basis of inverted pendulum,μanalysis and synthesis on theory of structure singular value was presented.First,standard h-infinity controller was developed and was proved conservative byμanalysis,so that key factors were found out.Then,D-K iteration method was applied to correct the original controller and added to system.Finally,the practise effects of improve conservatism were verified by simulation results and comparisons with other h-infinity controllers on different interference suppression level.The results indicate that new method declines conservatism and improves output quality,which argues that it is effective.

关 键 词：一级倒立摆系统 Μ分析 Μ综合 标准H∞控制 D-K迭代算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]