鲁棒最优控制器的应用研究

Application Research of Robust Optimal Controller

针对伺服系统的特点,及其所受到外部干扰和参数摄动等不确定性的影响,研究了一种鲁棒最优控制方法。该方法通过对传统控制结构的改进,利用二次型最优控制理论设计最优控制器,实现对目标的跟踪;利用鲁棒控制理论设计鲁棒控制器,实现对外部干扰和参数摄动等不确定性等因素的抑制。通过仿真表明,该方法既满足伺服系统的跟随特性,又具有很好的抗干扰能力。

Aimed at the characteristics of servo system and uncertainty influences of external interference and parameter disturbance, a type of robust optimal method was designed and studied. By means of improving traditional control structure, the optimal controller was designed based on the quadratic optimal control theory to realize the function of target tracking. The robust controller was designed by use of robust control theory so as to lessen and eliminate the disturbances and influences of uncertain parameters. Simulation results indicated that this method can not only meet the requirements of servo system characteristics, but also has very good performances of anti-interference.