柔性板时滞鲁棒控制的实验研究

Experimental study on time-delay robust control for a flexible plate

以柔性板为对象,开展时滞H∞反馈控制的理论与实验研究。首先通过一种特殊形式的积分变换,将时滞方程转化为无时滞的标准状态方程形式,然后采用线性矩阵不等式设计H∞控制律,最后开展数值仿真与实验验证。结果显示,所给时滞H∞控制律不但可以处理小时滞量问题,也能处理大时滞量问题,而且具有对结构固有参数和时滞量不确定性的鲁棒性。

This paper presents theoretical and experimental studies of H∞ control for a flexible plate.Firstly,by a particular integral transformation to the time-delay equation,the standard state equation without explicit time delay is obtained.Then,a H∞ time-delay controller is designed based on the standard state equation using the linear matrix inequality.Finally,simulation and experiment are carried out to demonstrate the validity of the proposed controller.The results indicate that the time-delay controller presented in this paper is available for small time delay and large time delay as well.Furthermore,this delay controller is robust to the uncertainties of intrinsic parameters of the plate and time delay.