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Systematization of Analysis and Design of Robust Control Systems via IMC Parametrization

通过 IMC 参数化实现鲁棒控制系统分析和设计的系统化

基本信息

批准号：
14550437
负责人：
WATANABE Keiji
金额：
$ 1.92万
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：
2002
资助国家：
日本
起止时间：
2002 至 2004
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550437/
关键词：
internal mode control internal model parametrization robust stability robust control inverse system decoupling time delay system IMCP 内部安定性 IMCパラメタライゼーションむだ時間一般化安定化器混合感度問 2自由度系

项目摘要

This research project presents the systematic analysis and design of robust control systems via IMC parametrization as follows.(1)The state space -IMC parametrization for multivariable systems is proposed by dividing it into 3 parts.(2)The relation between IMC parametrization and Yula parametrization is derived in the framework of state space. It is shown that the feedback matrix is related to the responses to the reference inputs and the observer matrix is concerned with the responses to the disturbances.(3)The IMC parametrization for servo systems is established.(4)The solution to the 2 disk mixed sensitivity problem, which yields lower sensitivity than the conventional robust control based on the 1 disk specification, is presented.(5)It is clarified that the H infinity control suffers from sluggish responses to input disturbances if the plant contains stable poles near the imaginary axis. The breakthrough method is presented on the basis of IMCP.(6)The adaptive IMC is presented.(7) The 2 disk mixed sensitivity problem of lame delay systems is solved by using IMC parametrization. Furthermore, The robust stable range is considerably enlarged by introducing Pade approximation.(8)The inverse system and decoupling for multivariable systems are proposed for design of IMC parametrization.(9)The systamtic design of robust control which includes from PID control to H infinity control for delay-free and delayed systems.

本文通过内模参数化法对鲁棒控制系统进行了系统的分析和设计，主要内容如下：(1)将多变量系统的状态空间分解为三个部分，提出了多变量系统的状态空间--内模参数化法。(2)在状态空间的框架下，推导了内模控制参数化法与尤拉参数化法之间的关系。结果表明，反馈矩阵与参考输入的响应有关，观测器矩阵与扰动的响应有关。(3)建立了伺服系统的内模控制参数。(4)给出了两盘混合灵敏度问题的解，该问题的灵敏度低于传统的基于1盘的鲁棒控制。(5)阐明了当被控对象在虚轴附近含有稳定极点时，H_无穷控制对输入扰动的响应迟滞。提出了基于IMCP的突破方法。(6)提出了自适应IMC。(7)利用IMC参数化法解决了滞后系统的两盘混合灵敏度问题。此外，通过引入Pade逼近，使系统的鲁棒稳定范围大大扩大。(8)针对内模控制的参数设计，提出了多变量系统的逆系统和解耦方法。(9)无时滞系统和时滞系统的鲁棒控制设计，包括从PID控制到H_∞控制。