一类H型双驱龙门架系统的分散输出反馈抗干扰控制  

Decentralized Output Feedback Disturbance Rejection Control for a Class of Double Drive H-Gantry Systems

作　　者：穆静静 兰奇逊 李亚杰 杜亚冰 MU Jingjing;LAN Qixun;LI Yajie;DU Yabing(School of Mathematics and Physics,Henan University of Urban Construction,Pingdingshan 467036,China;Henan Provincial Engineering Laboratory of Building-Photovoltaics,Pingdingshan 467036,China)

机构地区：[1]河南城建学院数理学院,河南平顶山467036 [2]建筑光伏一体化技术河南省工程实验室,河南平顶山467036

出　　处：《信阳师范学院学报（自然科学版）》2023年第2期226-232,共7页Journal of Xinyang Normal University(Natural Science Edition)

基　　金：国家自然科学基金项目(61503122,12002120);河南省重点研发与推广专项(科技攻关)项目(202102210142,212102210172,212102310945)。

摘　　要：针对一类H型双驱动龙门架系统,在受其建模误差、不确定的参数以及其他的不确定干扰因素影响的条件下,研究了该系统的分散输出反馈抗干扰控制问题。以双驱龙门架系统中的两个平行滑块为研究对象,首先,通过适当的坐标变换将系统转化为两个互联的子系统;其次,在对各个子系统的集总干扰进行扩张的基础上,利用广义比例积分观测器技术和输出反馈占优技术,为各个子系统设计了系统的观测器和抗干扰控制器;最后,严格的理论分析表明,在所给的控制方法下,可以使整个闭环系统的跟踪误差以指数收敛到任意小的区域内,并通过仿真实验验证了算法的有效性。According to a class of H-type double drive gantry system,the problem of decentralized output feedback disturbance rejection control for this kind of system is studied under the effect of modeling error,uncertain parameters and other uncertain interference factors.Firstly,two parallel carriages in the double-drive gantry system are taken as the research object,the considered system is transformed into two interconnected subsystems through proper coordinate transformation.Secondly,on the basis of expanding the lumped disturbance of each subsystem,the observer and disturbance rejection controller of the system are designed for each subsystem by using the generalized proportional integral observer technique and the output feedback dominant technique.Finally,the strict theoretical analysis demonstrates that the tracking error of the whole closed-loop system will be driven to an arbitrary small region exponentially under the given control method.The effectiveness of the algorithm is verified by simulation experiments.

关 键 词：双驱龙门架系统 分散控制 广义比例积分观测器 输出反馈占优方法 分散抗干扰控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]