H Optimal Repetitive Control of Closed Loop Servohydraulic Testing

本项目旨在开发重复控制系统的控制器设计程序，将控制器设计与系统的特定性能水平联系起来。程序将针对具有大时间延迟值的重复控制器的简化情况以及时间延迟值不大的更一般情况而开发。控制器的设计过程将基于H∞控制理论，并寻求鲁棒性能。本文将改进现有的分布参数系统H∞控制理论，并将其应用于重复控制系统。目前可用的重复控制器也将在H∞框架中进行查看，以便更好地理解H∞问题中使用的权重与最终控制器的关系。预期使用这种方法设计的H∞重复控制器的性能至少与目前可用的重复控制器一样好。这里开发的控制器设计程序和控制器本身的实用性将通过应用于闭环伺服液压测试来确定。伺服液压执行器的使用引起了对执行器相关非线性的考虑，这是特定于这种应用的。这些非线性效应将被表征为模型误差，与H∞控制器设计过程相兼容。此外，将通过适当的稳定性分析技术来评估具有这些非线性效应的重复控制系统的稳定性。* * * / /

This project seeks to develop controller design procedures for repetitive control systems that relate controller design to specified levels of performance of the system. Procedures will be developed for the simplified case of repetitive controllers with large time delay values as well as the more general case where the time delay values are not large. The controller design procedure will be based on H infinity control theory and robust performance will be sought. Available theory for H infinity control of distributed parameter systems will be modified and applied to repetitive control systems. Currently available repetitive controllers will also be viewed in an H infinity framework so that the relationship of weights used in the H infinity problem and the resulting controller is better understood. It is expected that the H infinity repetitive controllers designed using this approach will perform at least as well as currently available repetitive controllers. Usefulness of the controller design procedures developed here and of the controllers themselves will be established by application to closed loop servohydraulic testing. The use of servohydraulic actuators raises considerations of actuator-related nonlinearities which are specific to this application. These nonlinear effects will be characterized as model error, in terns compatible with the H infinity controller design procedure. Furthermore, the stability of repetitive control systems with these nonlinear effects will be evaluated by appropriate stability analysis techniques.*** //