A two-degree-of-freedom design of optimal servosystems for general reference signals
A two-degree-of-freedom design of optimal servosystems for general reference signals
复制标题
通用参考信号最优伺服系统的二自由度设计
DOI：
10.1109/cdc.1993.325931
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发表时间：
1993
期刊：
影响因子：
--
通讯作者：
M. Ikeda
中科院分区：
文献类型：
--
作者：
Y. Fujisaki;M. Ikeda
针对线性时不变微分方程控制的参考信号，提出了最优伺服系统的两自由度设计。首先，一个最优跟踪问题被认为是一个最优调节器问题的变化系统，这是定义在由参考信号确定的稳态行为。然后，一个伺服补偿器应用到所得到的跟踪系统，以科普建模误差的植物和干扰输入的植物。为了在无建模误差或无干扰输入的情况下保持最优跟踪特性，在这种理想情况下，采用互补的前馈和反馈来抵消伺服补偿器的影响。<<ETX>>
A two-degree-of freedom design of optimal servosystems for reference signals governed by linear time-invariant differential equations is proposed. First, an optimal tracking problem is considered as an optimal regulator problem for a variation system which is defined around the steady state behavior determined by the reference signal. Then, a servo compensator is applied to the resultant tracking system in order to cope with modeling errors of the plant and disturbance inputs to the plant. To preserve the optimal tracking property under no modeling error or no disturbance input, complementary feedforward and feedback are employed to cancel the effect of the servo compensator in such an ideal case.<<ETX>>