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为克服分散鲁棒控制器设计中输出量各阶导数可测要求的限制,设计了带有高增益观测器的非线性鲁棒控制器。该方法不依赖于对象模型,通过积分环节对系统不可测部分和扰动进行估测,并予以补偿,提高系统的性能鲁棒性和动态性能;减少了控制器的可调参数,提高了实用性。选取典型的单变量非线性系统,基于Monte-Carlo随机试验,采用时间乘误差绝对值积分(ITAE)值作为性能指标,研究控制器参数对系统性能影响,并总结出该控制器的参数整定规则。
In order to overcome the limitations of the measurable requirements of the derivatives of the output in the decentralized robust controller design, a nonlinear robust controller with high gain observer is designed. The method does not depend on the object model, and estimates the unmeasured part and perturbation of the system through the integral part, and compensates for it to improve the performance robustness and dynamic performance of the system. The method reduces the adjustable parameters of the controller and improves the practicability . A typical univariate nonlinear system is selected. Based on the Monte-Carlo random test, the time-varying absolute value integral (ITAE) value is used as a performance index to study the influence of controller parameters on the system performance, and the parameter tuning rules of the controller are summarized .