一种新的隐式多变量组合自校正动态解耦控制器

A New Implicit Muitivariable Combined Self-tuning Dynamic Decoupling Controller

本文提出一种新的多变量组合自校正动态解耦控制器.该控制器采用在零极点配置基础上叠加最小方差控制的算法,既能实现动态解耦,又改善了伺服跟踪性能.该控制器采用隐式递推算法,参数估计数目少,在线计算量小,仿真结果表明控制效果良好.

This paper presents a new kind of multivariable combined self-tuning dynamic decoupling controller.It adopts an algorithm which superim-poses minimum variance control on the basis of polezero placement.Thecontroller can realize dynamic decoupling and improve servo-tracking capa-bility of the system,and it is accomplished with an implicit recursive algo-rithm which has fewer estimating parameters and smaller number of on-linecomputations.Simulation results show good control effects.