Robust controller design for position control of the metal ball in magnetic field
Robust controller design for position control of the metal ball in magnetic field
复制标题
用于磁场中金属球位置控制的鲁棒控制器设计
DOI：
10.1109/icit.2003.1290809
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
R. Svecko
中科院分区：
文献类型：
--
作者：
A. Chowdhury;M. Golob;P. Cafuta;R. Svecko
本文针对磁场中金属球的位置控制问题进行了建模和控制器综合。重点是支付现代控制理论的控制器设计的实施。磁场中金属球的位置控制是一个已知的不稳定非线性控制问题，人们用不同的方法和各种控制综合工具来解决这个问题。本文的目的是指出现代控制理论如H/sub /spl infin// control理论在解决真实的控制问题时的应用以及理论实施所遇到的困难。控制器的设计是一个多步骤的过程，有更多的障碍和限制。本文提出了一个系统的方法，从问题研究到最终解决方案的所有必要的步骤，除了翻译的性能要求的H/sub /spl infin//控制器综合工具描述为一个案例研究。对于现代控制理论的使用，系统鲁棒性是主要原因。H/sub /spl infin//控制理论使控制器合成具有系统鲁棒性的保证，但也存在系统对对象扰动和外部干扰具有鲁棒性的可能性，而与控制器合成方法无关。在文章中提出了一种这样的改进方法的控制器综合。通过对真实的系统的性能测试和两种不同设计方法的控制器的性能比较，得出了两个重要结论。第一，H/sub /spl infin//控制器合成虽然在数学上非常优雅，但当在真实的系统上实现时可能是一个很大的问题，第二，虽然使用不同的控制器合成方法，但可以实现系统鲁棒性，重要的是鲁棒性是拱形的。
Article is describing a modeling and controller synthesis for the position control of the metal ball in magnetic field. The focus was paid to implementation of modern control theory for the controller design. The position control of the metal ball in magnetic field is known unstable non-linear control problem that was solved with different methods and with variety of the control synthesis tools. Our aim in this article is to point out the use of modern control theory such as H/sub /spl infin// control theory and related difficulties by the implementation of the theory when solving real control problems. Controller design is a process composed with many steps and with even more obstacles and limitations. The article is presenting a systematic approach from problem studying to the final solution with all necessary steps, beside that the translation of performance demands to the H/sub /spl infin// controller synthesis tools is described as a case study. For a use of modern control theory a system robustness was the primarily reason. H/sub /spl infin// control theory is enabling a controller synthesis with assurance of the system robustness but there is also a possibility that the system will perform robust to the object perturbation and external disturbances regardless to the controller synthesis method. In article one such modified approach of the controller synthesis is presented. With the performance measurement results on the real system and comparison of those for two different controllers designed different ways we have cam to two important conclusions. First, that H/sub /spl infin// controller synthesis although mathematically very elegant can be a good deal of a problem when implemented on a real system and second, that is possible to achieve system robustness although using a different method of controller synthesis, important is only that the robustness is vaulted.