H_∞理论在双振动台解耦控制中的应用  

Application of an H_∞ Optimal Control Method to Dual-Shaker Random Vibration Decoupling

作　　者：田玉虎[1] 鲍明[1] 陈怀海[1] 申凡[1] 

机构地区：[1]南京航空航天大学航空宇航学院,南京210016

出　　处：《南京航空航天大学学报》2003年第5期516-520,共5页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：航天科学基金 ( 971 0 60 91 )资助项目

摘　　要：研究了基于 H∞ 控制理论的振动台解耦控制的双自由度控制器设计方法 ,克服了传统的基于模型逆的解耦控制系统鲁棒性能较差的缺点。根据截去振动系统高阶模态的降阶系统设计 H∞ 控制器 ,引入了模型的不确定性扰动 ;利用 H∞ 控制的整形技术对控制对象进行整形 ,提高了闭环系统的解耦性能。通过简化的 4自由度梁并考虑截去第 4阶模态的模型进行控制器设计 ,仿真结果表明在 5～ 2 0 0 0 Hz频率范围内 ,H∞ 解耦控制方法不仅具有较好的解耦性能 。A decoupling approach is presented to dual shaker random vibration control problem using H ∞ based optimal control for an two degrees of freedom controller. For this purpose, a four degrees of freedom lumped mass model of a simplified beam is studied,and the controller is designed by considering the model of first three vibration modes with loop shaping and neglecting another high frequency mode or unmodeled dynamics.This decoupling approach is better than conventional one based upon inverse controller in stability robustness and causing no spillover phenomena while approximate decoupling is achieved,and the numerical examples show that the approach with loop shaping is better than that with inverse based controller in control performance, and better than that without loop shaping H ∞ based optimal control. Simulational results demonstrate the H ∞ based decoupling approach efficiency of the real control objects.

关 键 词：H∞理论 解耦控制 应用 双自由度控制器 设计 鲁棒稳定性 双振动台 结构振动 

分 类 号：TB535[理学—物理]