直线电动机伺服系统的鲁棒H_∞控制

Robust H_∞ Control for Linear Motor Servo System

对具有时变不确定性的直线电动机伺服系统提出鲁棒H∞ 控制。将时变参数不确定系统的鲁棒H∞ 控制问题 ,转化成一个等价的、不包含任何参数不确定性的线性时不变系统的标准H∞ 控制问题 ;对标准H∞ 控制问题 ,可通过求解代数Riccati矩阵方程的对称正定解求得控制器 ,也就是不确定系统的鲁棒H∞ 控制器。仿真结果表明 ,用该方法设计的直线伺服系统 ,既能保证系统对外部扰动具有良好的抑制作用 ,又能保证对参数不确定性的鲁棒性。

This paper presents robust H ∞ control for linear servo system with uncertainty.First,the design of robust H ∞ controller for time varying parameters system with uncertainty is converted into a standard H ∞ control problems of linear time invariant parameters system with an equivalent and not included any parameter uncertainty.Then,a controller,for standard H ∞ control problems,is obtained through solving an algebraic matrix Riccati equation with symmetrically positive solution,that is robust H ∞ controller for system with uncertainty.Results of simulation test indicate that the linear servo system with robust H ∞ controller not only can guarantee a good resistance for loaded disturbance but also can satisfy robustness for paramefer uncertainty.