基于降阶扩张状态观测器的重复控制系统设计  

A method of designing a reduced-order-extended-observer-based repetitive-control system

作　　者：周兰[1] 姜福喜 潘昌忠[1] 陈静[2] ZHOU Lan;JIANG Fu-xi;PAN Chang-zhong;CHEN Jing(School of Information and Electrical Engineering,Hunan University of Science and Technology,Xiangtan 411201,China;School of Mathematics and Computational Science,Hunan University of Science and Technology,Xiangtan 411201,China)

机构地区：[1]湖南科技大学信息与电气工程学院,湖南湘潭411201 [2]湖南科技大学数学与计算科学学院,湖南湘潭411201

出　　处：《控制与决策》2022年第4期933-943,共11页Control and Decision

基　　金：国家自然科学基金项目(61673167).

摘　　要：针对一类含有非匹配状态相关不确定性和外界干扰的伺服系统,提出一种基于降阶扩张状态观测器的重复控制方法,通过对不确定性和扰动进行实时估计和主动补偿,实现对周期性参考输入信号的高精度跟踪.首先,利用系统可测输出和控制输入信号设计降阶扩张状态观测器,对系统的不可测状态以及包含不确定性和外界干扰的总扰动进行估计;其次,通过选择合适的扰动补偿增益,构造基于扰动动态补偿的复合重复控制规律,消除总扰动对系统输出的影响,保证系统输出对周期性参考信号的准确跟踪;然后,基于小增益定理推导出系统稳定性条件和控制器参数设计算法;最后,通过数值仿真实例和实验验证所提方法的有效性和优越性.This paper presents a reduced-order-extended-state-observer(RESO)based repetitive control(RC)method for a class of servo systems with mismatched state-dependent uncertainties and external disturbances.It aims to achieve high-accuracy tracking for periodic reference input by on-line estimating and compensating the effects of the state-dependent uncertatinties and disturbances.Firstly,using the measurable output and control input of the plant,an RESO is constructed to estimate the unmeasurable states and the total disturbance including uncertainties and external disturbances.Based on the estimates,a composite RC law is devised that dynamically compensates for the influence on the output of the total disturbance and ensure the precise tracking for the periodic reference signal.Then,based on the small gain theorem,both the stability criterion and design procedure of the closed-loop system are provided.Finally,simulational and experimental results demonstrate the effectiveness and superiority of the proposed method.

关 键 词：不确定性 降阶扩张状态观测器 重复控制 扰动补偿 跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]