论文部分内容阅读
使用滤波型或预测型降阶观测器的控制器被用于数字1型伺服系统的输出反馈设计中,以便降低控制器的阶数,并考虑一拍的运算延迟。该控制器由状态反馈设计和降阶观测器来决定。本文通过导出基于这个控制器的二重互质分解状态空间表达式,获得了所有能保证积分作用并考虑了一拍运算延迟的稳定化控制器的参数化形式,它把稳态特性和运算延迟的要求表达为对自由参数的约束,而且还可以用于求解H_2和H_∞最优灵敏度控制问题。
The controller using a filtered or predictive reduced order observer is used in the output feedback design of a digital type 1 servo system in order to reduce the order of the controller and to consider the delay of one shot. The controller is a state feedback design and a reduced order observer. In this paper, by deriving the state space expression based on the double coprime states of the controller, all the parameterized forms of the stabilizing controller which can guarantee the integral function and consider the delay of one-shot operation are obtained. The steady-state characteristics and operation delay Is expressed as a constraint on the free parameter and can also be used to solve the H 2 and H_∞ optimal sensitivity control problems.