Development of a Design Method of Robust Control Systems in Time Response Domain

时间响应域鲁棒控制系统设计方法的发展

• 批准号: 08455200
• 负责人: KITAMORI Toshiyuki
• 金额: $ 4.42万
• 依托单位: Hosei University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08455200/
• 关键词: PID control; I-PD control; robust design; shape of step response curve; quickest response; 分母系列表現; ステップ応答波形; ロバスト制御系の設計; 時間応答領域; 伝達関数の係数空間; ステップ応答曲線の分布; ゼロ点系列; 望ましいステップ応答曲線形状; ロバストI-PD制御; 制御系設計公式; ロバストPID; ロバストI-PD

A design method of robust control systems was developed for PD and I-PD control systems. In the- work, the robustness was defined to keep the shape of the step response curve within a certain range of deterioration under a given range of changes in the controlled object characteristics. The method is an extension of so called partial model matching method which has been developed by the present author. The reference model was extended in such a way as the coefficients of the model have some range, inside of which deterioration of the step response curves stays allowable. Once such a model was obtained the design process was straight forward and very simple and transparent algorithm was obtained for the I-PD control. For PID control, computation is less transparent but not so complicated. The method brings us a control system of quickest response within the allowable deterioration of step response shape. The effectiveness of the method was shown by some sample designs.

针对PD和I-PD控制系统，提出了一种鲁棒控制系统的设计方法。本文定义了鲁棒性，即在给定的被控对象特性变化范围内，使阶跃响应曲线的形状保持在一定的恶化范围内。该方法是作者提出的部分模型匹配法的推广。参考模型以这样的方式进行扩展，即模型的系数具有一定的范围，在该范围内，阶跃响应曲线的恶化是允许的。一旦获得了这样的模型，设计过程是直接的，并且获得了用于I-PD控制的非常简单和透明的算法。对于PID控制，计算不那么透明，但不那么复杂。该方法使控制系统在阶跃响应形状允许的恶化范围内具有最快的响应。实例设计表明了该方法的有效性。