摘要
研究了输入多采样率型离散时间控制系统的预见控制器设计问题.首先利用提升技术从形式上消除多采样率特点和状态时滞,把问题转化为一个普通的单采样率无时滞系统的控制器设计问题.由于状态时滞的存在,提升过程中会引入输入量的历史值.把这些历史值和状态时滞项一起放入扩大系统的状态向量中,因此提升过程不会引入误差.针对提升后的系统,利用最优预见控制的标准处理方法,通过构造扩大误差系统,把问题转化为调节问题,最后给出带有预见补偿的最优控制器.再经过变换,得到原系统的预见控制器.同时对预见控制器的存在条件进行了讨论.数值仿真表明,本文所设计的预见控制器是有效的.
Designing a preview controller for discrete-time muhirate input systems was considered. At first, by making use of the lifting technique to eliminate the muhirate characteristic and the state time-delay of the sampled system, the problem was converted into a controller design problem for a single-rate no-delay sampled system. Because of the existence of state time-delay, the historical values of input data would be introduced during the lifting process. However, the historical values and the state delay were put into the state vector of the expanding system so that no error was introduced during the lifting process. For the lifted system, the problem was changed into an adjust problem via the standard method of dealing the optimal preview control and by constructing an expanded-error system, and finally an optimal controller with preview compensation was derived subsequently. Through transformation a preview controller was then obtained for the original system. The existence condition of the preview controller was discussed. Numerical simulations proved the effectiveness of the preview controller designed in the paper.
出处
《北京科技大学学报》
EI
CAS
CSCD
北大核心
2011年第3期363-375,共13页
Journal of University of Science and Technology Beijing
基金
国家自然科学基金资助项目(No.10671011)
北京科技大学冶金研究基金资助项目(No.2009--002)
关键词
预见控制
采样系统
提升技术
可稳定性
可检测性
preview control
sampled system
lifting technique
stabilizability
detectability
