具有对偶极点的不稳定过程的鲁棒控制

Robust control of unstable process with dual pole

为了进一步完善不稳定系统的鲁棒控制器设计方法,将具有对偶极点的不稳定过程分成纯不稳定过程与一般的稳定过程两部分,对于纯不稳定过程采用先成形再镜像映射的方法,而对于一般的稳定过程则基于极点对消原则直接设计控制器,最后用闭环增益成形算法求解鲁棒控制器。将所设计的鲁棒控制器应用于磁浮列车的悬浮控制中,从仿真结果可以看出,控制效果可以达到小超调(<8%)、无静差、调节时间快(<0.1 s)、对模型摄动具有鲁棒稳定性。

In order to improve the design method of robust controller for an unstable process, the unstable process with dual pole is divided into two parts, a pure unstable process plus a general stable process. For the pure unstable process loop shaping and mirror-in）ection method are used, while a controller based on pole cancellation rule is directly designed for the general stable process. The robust controller is finally solved by the close＆loop gain shaping algorithm. The robust controller is used to the suspension control of a ma- glev train. The simulation results show that the control effects can reach rapid settling time （〈0. 1 s） with small overshoot （〈8% ） and without steady-state error and have satisfactory robust stability to model perturbation,