鲁棒最优随机时滞滤波器的频域设计方法

Design of Robust Optimal Arbitrary Time-delay Filter in the Frequency Domain

采用频域的零点配置方法,通过在系统极点附近配置多个滤波器零点设计强鲁棒性的多峰极不灵敏(E I)最优随机时滞滤波器.此外通过考虑系统的阻尼变化,设计了对频率和阻尼误差均有较强鲁棒性的完全不灵敏最优随机时滞滤波器.该设计方法简单实用.在桥式起重机防摆控制中的应用证明了该方法的良好性能,与基本的时滞滤波器进行比较,该方法设计的鲁棒时滞滤波器能更有效地抑制负载的残留振荡,对绳长变化具有更好的鲁棒性.

Zero placement method in the frequency domain is utilized to design robust multi-hump EI optimal arbitrary time-delay filter （OATF） by placing two or more filter zeros nearby the system poles. A total insensitive OATF can be also achieved if the problem of insensitivity to damping errors is considered. This design strategy is easier to derive and implement. Application in the anti-swing control of overhead cranes verifies the fine performance of this strategy. Compared with the basic OATF, the proposed new OATF produces better suppression of the load vibrations, which is more robust to the variation of the cable length.