跟踪效益问题中伺服控制的新思路：一种“参考输入-伺服控制器一体化设计”方法

有效克服受控对象的慢动态特性对跟踪性能/效益的影响一直是伺服跟踪控制领域的一个瓶颈问题。随着受控对象规模和复杂度的不断增高，这一问题日益突出、亟待解决。本项申请从小组先期在风电工程的研究工作中注意到：从控制任务上，伺服跟踪控制可分为“以跟踪为目的”和“跟踪只是手段、优化某种系统效益才是目的”两大类。前者的参考输入是给定的，通常不可调整；后者则未必：只要能优化效益，哪怕是虚拟的参考输入，都可纳入考虑范畴。这样，参考输入便可与伺服控制器一起进行一体化设计。这一视角及其观察，在已有伺服控制理论和方法中尚未得到足够的注意与体现。本项研究即针对这类问题，在先期研究基础上提出“参考输入-伺服控制器一体化设计”概念，并以低风速风力发电系统为演示验证平台、系统地研究相应的伺服控制理论和方法，为进一步改善慢动态特性对效益优化问题中跟踪控制的瓶颈效应提供一条新途径。

How to overcome effectively the negative impacts of the slow-dynamics of controlled plants on the tracking performances is always one of the bottle-neck problems in the field of servo-control. With the increasing large-scales and complexities of the structure of controlled plants, this problem become more and more challenging and are urgent to be addressed. In this project, according to the previous work on wind power engineering, the applicants note that the servo-control problems can be classified into two types: the one in which tracking is regarded as the control objective, and the one in which the tracking is only regarded as a mean or way to obtain an optimized performance in a certain sense. In the former case, the reference inputs are usually given and hence unchangeable. However, in the latter case, the reference inputs may be adjustable and even replaced. Theoretically, in this case, any reference inputs even including the virtual ones can be utilized to replace the given reference inputs as long as they can achieve a better performance. Hence, the reference inputs can be regarded as designable parameters and thus be included into the integrated design with servo-controllers. So far, this observation and its advantages are not being considered in the existing servo-control theory and methodologies. Based on such consideration, this project proposes a new concept of “integrated design of reference inputs and servo-controllers”, and plans to develop a feasible servo-control theory and the methods on the basis of the previous works on low wind speed wind power generation system, which will provide a new technological approach to overcome the bottle effects of the slow dynamics of the controlled plants on the tracking control in the issue of efficiency optimization.