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针对内模控制中的真实模型、辨识模型和内模控制器同时出现,因传统内模控制器的设计紧紧依赖于真实模型和辨识模型,从而使得内模控制器设计过程较复杂.为规避真实模型的建模,使辨识模型的建模与内模控制器设计可同步实现,文章将虚拟参考反馈校正思想应用于内模控制中.虚拟参考反馈校正思想可将辨识模型和内模控制器的求解转化为参数辨识过程.为建立虚拟参考反馈校正思想与传统自适应控制方法间的等价性,推导出对输入-输出观测数据作预滤波处理的滤波器.为衡量内模控制中两类未知参数的辨识精度,采用渐近性理论推导两类未知参数矢量的渐近方差矩阵式.以此渐近方差矩阵式的迹运算作为目标函数,以输入观测数据的功率谱密度作为优化决策变量,利用初等代数运算求解出内模控制中的最优输入功率谱.最后用仿真算例验证本文辨识方法的有效性.
For the real model in the internal model control, the identification model and the internal model controller appear at the same time. Because the design of the traditional internal model controller closely depends on the real model and the identification model, the internal model controller design process is complicated. The modeling of the real model can make the model identification and the model controller design synchronously. The article applies the virtual reference feedback correction theory to the internal model control. The virtual reference feedback correction idea can distinguish the model and the internal model controller Is transformed into parameter identification process.In order to establish the equivalence between the idea of virtual reference feedback correction and the traditional adaptive control method, a filter for pre-filtering input-output observation data is deduced.For the purpose of measuring two The asymptotic variance matrix of two types of unknown parameter vectors is deduced by using asymptotic theory.The trace operation of asymptotic variance matrix is taken as the objective function and the power spectral density of the input observation data is taken as the optimal decision Variables, the use of elementary algebraic operation to solve the internal model of the optimal input power spectrum.Finally, a simulation example to verify the identification method Effectiveness.