最小方差自校正控制——具有恒定的闭环极点

Minimum Variance Self-Tuning Controller with Fixed Closed-Loop Poles

提出一种具有恒定闭环极点的最小方差自校正控制器,该控制器将最小方差策略和极点配置策略结合起来,既保证了良好的伺服跟踪能力和抗干扰能力,又增强了控制器的鲁棒性。本文采用递推估计算法在线调整加权多项式来配置闭环极点,因而在不显著增加在线计算量的条件下有效地改善了控制器的性能。

This paper presents a minimum variance self-tulling controller with fixed closed-loop poles. The controller combines the minimum variance strat- egy with the pole placement strategy so that good servo tracking ability and anti-disturbance ability are guaranteed, and the robustness of the controller is strengthened as well. Unlike the on-line method of solving the diophantine equation currently used in pole placement algorithm, the control algorithm in this paper updates weighting polynomials to assign closed-loop poles by recur- sive estimating approach, thus improving the performance of the controller effectively without a remarkable increase of on-line computation.