基于鲁棒右互质分解的直流伺服系统精确跟踪控制

Perfect Tracking of Direct Current Motor Servo System Based on Robust Right Coprime Factorization[HS)]

摘要:

对含有不确定性的直流伺服控制系统, 通过应用鲁棒右互质分解方法,设计了一种基于鲁棒右互质分解的精确跟踪控制系统；通常情况下,直流伺服系统中存在诸如非线性特性及参数辨识引起的模型误差和外界扰动,在设计的控制系统中,未知模型误差和外界扰动对系统性能的影响都被看作直流伺服系统的不确定性；在考虑到这些不确定性情况下,设计了一种基于鲁棒右互质分解理论的精确跟踪控制；首先在考虑未知的不确定模型影响系统性能指标的情况下,设计了一种基于演算子理论的反馈控制结构,此结构可以消除不确定模型的影响,在此基础上,设计了基于鲁棒右互质分解的鲁棒精确跟踪控制系统,得出精确跟踪条件；仿真结果表明使用提出的方法可以有效地消除不确定性,使得伺服系统具有很强的鲁棒性和精确跟踪能力。

Abstract:

An operator-based robust perfect tracking control for a direct current servo control system with uncertainties is proposed by using robust right coprime factorization approach. In general, there exist modelling errors in nonlinear characteristics and parameter identification of the direct current servo control system and external disturbances in real situations. In the present control system design, the effect of the modelling errors and external disturbances on system performance is considered to be uncertainties in the direct current servo control system. Considering the uncertainties, a robust perfect tracking control by using robust right coprime factorization is studied. That is, first, considering the unknown uncertain plant generates limitations in obtaining perfect tracking conditions, an operator-based feedback control scheme is designed, and the effect of uncertain plant is eliminated by the proposed control scheme. Based on the obtained conditions, a robust perfect tracking control system based on robust right coprime factorization is designed, and new perfect tracking condition is obtained. The result of the simulations indicates that the proposed method can eliminate uncertainties effectively and make the servo system have strong robustness and perfect tracking ability.