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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。
A minimum variance self-tuning controller with a constant closed-loop pole is proposed. The controller combines the minimum variance strategy and the pole placement strategy, which not only guarantees good servo tracking ability and anti-interference ability, but also enhances the robustness of the controller Sex. In this paper, the recursive estimation algorithm is used to adjust the weighted polynomial to configure the closed-loop poles, which effectively improves the performance of the controller without increasing the on-line computation.