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分析了Kokotovic提出的复合LQR控制器设计方法,以复合控制与最优控制的性能指标差异为依据,评判了设计控制器过程中所建立的标准两尺度系统模型是否符合系统内在的时间尺度特性;指出了以开环时间尺度特性分解系统的缺陷,分析了系统参数变化对闭环时间尺度特性的影响;基于闭环时间尺度特性分析,提出了将一般线性动力学方程转换为标准两尺度系统形式的方法,并分析了小参数μ在复合控制器设计中的影响.依据该标准两尺度模型设计的控制器能够敏感由系统参数变化或反馈控制变化导致的时间尺度特性的改变,并能够得到满意的控制效果.
The design method of composite LQR controller proposed by Kokotovic is analyzed. Based on the difference between the performance indexes of the hybrid control and the optimal control, the standard two-scale system model established in the process of designing the controller is judged whether it meets the inherent time-scale characteristics of the system. The shortcomings of decomposing the system with open-loop time-scale characteristics are pointed out. The influence of system parameters on closed-loop time-scale characteristics is analyzed. Based on the analysis of closed-loop time-scale characteristics, a general method of converting general linear dynamic equations into a standard two-scale system is proposed , And analyzes the influence of small parameter μ in the design of compound controller.The controller designed according to the standard two-scale model can be sensitive to the change of time scale characteristic caused by the change of system parameters or feedback control, and can obtain satisfactory control effect.