直流伺服电机不确定性系统鲁棒控制器研究

摘要

Aiming at the problem of model uncertainty caused by the change of external disturb‐ance ,DC motor conditions and the modeling error ,robust DC servo motor speed control system was designed using μcontrol theory .Firstly ,by introducing fictive uncertainty ,the robust per‐formance problem was transformed into robust stability problem of augmented system .Secondly , the DC servo motor speed control system design was constructed into the general framework of μsynthesis according to the principle of interference suppression ,and weighting functions was se‐lected properly to get the augmented controlled object .Lastly ,the D‐K iteration algorithm was used to solve the seventeen‐order controller ,and this controller was reduced to fourth‐order suc‐cessfully using the Hankel singular values and dominant‐pole procedure .Robustness analysis was performed in term of the controller ,results showed that the reduced‐orderμcontroller yielded the desired robust stability as well as the robust performance .%针对电机参数变化、外界扰动及建模误差等引起的模型不确定性，基于μ控制理论，尝试设计具有较强鲁棒性的直流伺服电机速度控制系统。首先通过引入虚拟不确定块等将系统鲁棒性能问题转化为鲁棒稳定性问题；然后依据干扰抑制理论，将直流伺服电机速度控制系统的设计转化为一般框架内的μ控制问题，并通过求解适当的加权函数使控制系统的性能满足设计要求；最后运用D‐K迭代的μ合成算法求得17阶μ控制器，并运用Hankel奇异值及主导极点法予以简化。鲁棒性能分析及仿真结果表明：所设计的4阶μ控制器性能优异，对电机参数等的摄动具有较强的鲁棒性。