离心–气压系统基于SDRE的最优保性能鲁棒控制  

SDRE based optimal robust guaranteed cost control of centrifugal pneumatic system

作　　者：王敏林 董雪明[1] 任雪梅[2] WANG Min-liny;DONG Xue-ming;REN Xue-mei(Changcheng Institute of Metrology&Measurement,Beijing 100095,China;School of Automation,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京长城计量测试技术研究所,北京100095 [2]北京理工大学自动化学院,北京100081

出　　处：《控制理论与应用》2024年第10期1937-1943,共7页Control Theory & Applications

基　　金：国家自然科学基金项目(62103389)资助.

摘　　要：针对离心–气压系统,本文提出基于状态相关黎卡提方程(SDRE)的最优保性能鲁棒控制方案,实现高精度、高稳定性的气压控制.针对气压系统中存在的参数不确定性及参数未知且与状态相关的问题,首先采用自适应参数估计方法对系统未知参数进行估计,保证参数估计误差的快速收敛.基于参数估计的结果,设计了最优保性能鲁棒控制器,该控制器在参数不确定性存在的情况下仍能保证系统性能指标达到一确定的上界.然而,由于新的黎卡提方程是与状态相关的,不易求得解析解,因此,通过泰勒级数法离线逼近SDRE的最优解.所提出的控制方案不但具有较强的鲁棒性,并且具有快速、无超调、易于应用等优点.最后,仿真分析和实验结果也验证了所设计的控制方案可以实现气压范围为1-100 kPa,随动误差低于10 Pa的高精度跟踪控制.In this paper,an optimal guaranteed cost robust control scheme based on the state-dependent Riccati equation(SDRE)is proposed for the centrifugal pneumatic system to achieve the high-precision and high-stability air pressure control.As the centrifugal pneumatic system exists the parameter uncertainties and its parameters are usually unknown and state-dependent,this paper uses the adaptive parameter estimation method to estimate the system unknown parameters with fast convergence of the estimation errors.Based on the parameter estimation results,an optimal robust guaranteed cost controller is designed to deal with the influence of the parameter uncertainties and guarantee the cost function reaching a certain upper bound.Since the new SDRE is state-dependent which does not have an analytic solution,the Taylor series method is used to approximate the optimal solution offline.The proposed controller has the following merits:Strong robustness,fast transient response,no overshoot and simple to implement.Finally,simulation analysis and experimental results also verify that the proposed controller can realize the precise tracking control of air pressure range 1∼100 kPa with following error less than 10 Pa.

关 键 词：离心–气压系统 参数不确定性 自适应参数估计 最优保性能鲁棒控制 状态相关黎卡提方程 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]