摘要
应用Ｙｏｕｌａ二自由度控制器设计参数化公式，对电子换向电机伺服系统导出了基于一自由度控制设计的二自由度Ｈ∞控制器结构，该结构用Ｋｗｋｅｒｎａａｋ多项式Ｈ∞优化设计方法获希望的跟踪特性，用Ｚａｍｅｓ的模型参考变换近似逆概念对扰动进行最佳抑制，并对负载扰动和参数变化的敏感性进行分析．实验结果表明系统具有良好的跟踪特性和抗扰性．
By using Youla parametrization of two degrees of freedom controller design, an H ∞ optimal robust controller is proposed for electronically commutated motor servo system based on one degree of freedom controller design. The expected tracking performance is obtained by using Kwakernaak′s polynomial H ∞ optimal design method. The optimal rejection of disturbances is obtained by using Zames′ model reference transformation approximate inverse concept. The sensitivity to load disturbance and parameters variation are analysed. The experimental results demonstrate its excellent tracking and disturbance suppression performance.
出处
《自动化学报》
EI
CSCD
北大核心
1998年第1期37-43,共7页
Acta Automatica Sinica
基金
国家自然科学基金
关键词
伺服系统
鲁棒控制
电子换向电机
H^∞控制
Servo system, two degrees of freedom controller, H ∞ design, robust control.
