摘要
随着数字计算机在控制中的广泛应用,直接在离散时间内设计数字化控制器具有现实意义。在陈庆伟学者提出的连续时间双口内模控制的基础上,提出了一种针对伺服系统的离散时间双口内模控制器设计方法。其基本原理是在基本的内模控制结构上增加一个控制器,从而获得更高的系统性能。并对系统的鲁棒性能、跟踪性能和抗干扰性能进行了理论分析。仿真结果表明,当模型参数存在较大误差时,系统性能优于PID控制,且具有高阶无静差特性。
Along with wide application of digital computer in control system, digital controller design directly in discrete-time has important meaning. Design method of a kind of discrete time two-port internal model controller （IMC） of servo system was proposed based on continuous-time two-port internal model control. Its basic principle is to add another controller in original IMC structure to obtain better system performance. Robust stability, tracking and anti-jamming performances are analyzed theoretically. Simu- lation result showed that system performances are better than that of PID control when model parameters have greater errors, and the system also has the properties of no static difference with high order.
出处
《火炮发射与控制学报》
北大核心
2007年第1期31-34,共4页
Journal of Gun Launch & Control
关键词
自动控制技术
离散时间内模控制
双口控制
伺服系统
automatic control technology
discrete time
internal model control
two-port control
servo system
