Q PARAMETER APPROACH TO DESIGN OF ROBUST CONTROL SYSTEMS WITH TIME DELAYS

鲁棒时滞控制系统设计的 Q 参数方法

• 批准号: 10650422
• 负责人: WATANABE Keiji
• 金额: $ 1.54万
• 依托单位: YAMAGATA UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10650422/
• 关键词: TIME DELAY SYSTEMS; Q PARAMETER; MIXED SENSITIVITY; Time Delay Systems; Q parameter; Mixed Sensitivity; Generalized Stabilizer; Mixed Sensitivity Probem

IN DESIGN OF CONTROL SYSTEMS, LOW SENSITIVITY IS REQUIRED TO YIELD SMLL ERROR FOR REFERENCE INPUTS IN THE PRESENCE OF ADDITIVE DISTURBANCES AND PERTURBATIONS OF THE CONTROLLED SYSTEMS. THE COMPLEMENTARY SENSITIVITY HAS TO BE SMALL FOR ROBUST STABILITY. HOWEVER, THEY ARE NOT ZERO SIMULTANIOUSLY. MIXED SENSITIBITY SPECIFICATION IS INTRODUCDED. THE CONTROLLER SATISFINIG THE SPECIFICATION CAN BE DESIGNED BY HィイD1∞ィエD1 CONTROL FOR DELAY-FREE SYSTEMS. IT BECOMES COMPLICATED FOR TIME-DELAY SYSTEMS.IN THIS RESEARCH, Q PARAMETER APPROACH TO DESIGN OF TIME DELAY SYSTEMS IS PRESENTED. DESIGN METHODOROGY OF GENERALIZED STABILIZER WITH Q PRAMETER IS DEVELOPED TO SATISFY THE MIXED SENSITIVITY SPECIFICATION FOR DELAY-FREE SYSTEMS. IT IS EXTENDED TO SYSTEMS WITH INPUT DELAYS AND OUTPUT DELAYS THE NUMERICAL EXPERIMENTS SHOW THAT THE PROPOSED METHOD IS USEFULL FOR ROBUST CONTROL OF TIME DELAY SYSTEMS. IT IS APPLIED TO VISUAL SERBOING SYSTEMS SUCCESSFULLY. THESE RESULTS ARE SYSTEMATIZED AS DESIGN OF ROBUST CONTROL OF TIME DELAY SYSTEMS BASED ON Q PARAMETER APPROACH.

在控制系统的设计中，当存在被控系统的加性扰动和摄动时，要求对参考输入产生SMLL误差的灵敏度较低。互补敏感度必须很小，才能保持稳健的稳定性。然而，它们并非同时为零。介绍了混合灵敏度规范。对于无时滞系统，该控制器可通过HィイD 1∞ィエD 1控制来设计。针对时滞系统的复杂性，提出了用Q参数设计时滞系统的方法。为了满足无时滞系统的混合灵敏度指标，发展了Q参数广义稳定器的设计方法。将其推广到具有输入时滞和输出时滞的系统。数值实验表明，所提出的方法对时滞系统的鲁棒控制是有效的。该算法已成功应用于可视化服务系统中。这些结果被系统化为基于Q参数方法的时滞系统的鲁棒控制设计。

项目成果

G.IZUTA, T.WAGATUMA, K.WATANABE: "DESIGN OF THE GENERALIZED STABILIZING CONTROLLER FOR MULTIVARIABLE TIME-DELAY SYSTEMS"TRANS. SICE. 34, NO.9. 1214-1222 (1998)

G.Izuta、T.WAGATUMA、K.Watanabe：“多变量时滞系统的通用稳定控制器的设计”Trans。

WATANABE: "MIXED SENSITIVITY PROBLEM OF SYSTEMS WITH DELAY IN INPUT"PROC. OF KOREA-JAPAN JOINT WORKSHOP ON ROBUST AND PREDICTIVE CONTROL OF TIME DELAY SYSTEMS. 128-134 (1999)

渡边：“输入延迟系统的混合灵敏度问题”过程。

G.IZUTA, K.WATANABE: "A NEW CONTROLLER PARAMETERIZATION OF MULTIVARIABLE SYSTEMS WITH INPUT DELAYS"EUROPEAN CONTROL CONFERENCE. DA-12. 1-6 (1999)

G.Izuta、K.Watanabe：“具有输入延迟的多变量系统的新控制器参数化”欧洲控制会议。

IZUTA: "A-NEW CONTROLLER PARAMETRIZATION OF MULTI VARIABLE SYSTEMS WITH DELAYS"ECC99. DA-12・5. 1-6 (1999)

IZUTA：“带延迟的多变量系统的新控制器参数化”ECC99·5 (1999)。

伊豆田: "入力にむだ時間をも多変数系に対する一般化安定化器の設計"計測自動制御学会論文集. 34・9. 1214-1222 (1988)

Izuda：“具有输入死区时间的多变量系统的广义稳定器的设计”，仪器与控制工程师学会汇刊 34・9（1988）。