In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust ...In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust controllers design. v-gap metric is utilized to validate the intelligently estimated uncertainty. The robust controllers are formulated within the frame- work of the standard H∞ mixed sensitivity optimization problem. Furthermore, a specially designed integral-H∞ and two-degree-of-freedom 2 DOF H∞ controllers are developed to provide improved robust performance and resolution properties. It is shown that the proposed design schemes are very effective for robust control and precise tracking performance of the servo positioning system.展开更多
文摘通过分析扰动后电感电流变化和输出电容电荷变化,导出V^2恒定导通时间(Constant On-Time,COT)控制Buck变换器发生次谐波振荡的临界条件,进一步建立了V^2-COT控制Buck变换器的分段线性模型,通过随输出电容等效串联电阻(Equivalent Series Resistance,ESR)变化的分岔图分析了变换器的稳定机理。最后,制作实验样机,验证了理论分析的结果。
文摘In this paper, a systematic robust control design and analysis for a single axis precise positioner is presented. The effects of uncertainties on closed-loop stability and performance are considered in the H∞ robust controllers design. v-gap metric is utilized to validate the intelligently estimated uncertainty. The robust controllers are formulated within the frame- work of the standard H∞ mixed sensitivity optimization problem. Furthermore, a specially designed integral-H∞ and two-degree-of-freedom 2 DOF H∞ controllers are developed to provide improved robust performance and resolution properties. It is shown that the proposed design schemes are very effective for robust control and precise tracking performance of the servo positioning system.
