基于保护映射理论的鲁棒控制新方法

New robust control method with guardian maps

针对现代控制系统不确定性的问题,基于保护映射理论提出了一种新的鲁棒控制方法.利用保护映射理论,构建控制器增益与闭环系统极点间的联系,通过配置闭环系统极点,改善控制系统的动态特性和稳态性能,以满足期望的性能指标.整个设计过程中控制器结构固定,只需一个初始增益,即可实现系统的鲁棒控制.仿真研究显示对含参数变化的2阶系统模型,该方法能够自适应地获取满足整个变化系统控制性能的控制器增益,同时Monte Carlo随机试验表明了系统参数随机变化下,所求控制增益仍满足系统控制性能要求,从而保证了控制过程的鲁棒性.

According to uncertain characteristics of modern control system, a new ro- bust control method based on guardian maps theory was proposed. In light of guardian maps theory, the constraints between the controller gain parameters and the closed loop system poles were set up by this algorithm. By the closed loop system poles assignment, the dynam- ic characteristics and the steady performances were to meet the expected performance re- quirements. The controller structure was fixed. As long as an initial gain parameter was giv- en, the robust control of the system can be realized. Simulation results show that this algo- rithm can adaptively obtain the control gain parameters and meet the control requirements all along the entire domain for the second order system model with parameter. Meanwhlie, the Monte Carlo random experiment shows that the control gain parameters still satisfy the re- quirements of system control performance, so as to ensure the robustness of the control process under the random variation of system parameters.