2-Delay Digital Robust Control Theory and Its Applications

在本研究中，我们研究了双延迟数字鲁棒控制的理论，并将所得结果应用于电机控制，以验证双延迟控制的能力。但这种采样方法存在一个缺陷，即使连续时间对象是最小相位，离散系统也会出现不稳定的零点。这些不稳定的零点使得数字控制系统在任何意义上的鲁棒性都较差。为了解决这个问题，我们提出了一种双延迟数字控制方法，该方法除了测量普通采样点的输出信号外，还测量两个采样点之间的输出信号作为辅助输出。如果引入这种方法，零点是可赋值的，上述问题就解决了。在这项研究中，我们得到了以下结果：1)我们用双延迟控制实现了一个稳定的逆系统；2)我们构造了一个即使在状态变量不可达的情况下也是鲁棒的数字控制系统；3)我们证明了互补灵敏度函数的最小H*范数；4)在直流电机控制中的许多实验表明了双延迟控制的鲁棒性；5)在H*控制理论的研究中得到了许多新的理论结果

In this research we have investigated the theory of 2-delay digital robust control and have applied obtained results to a motor control in order to confirm the ability of the 2-delay control.The sampling action is introduced to the digital control in order to make the changing of control law flexible. But this sampling causes a drawback such that the discrete-time system has unstable zeros even the continuous-time plant is minimal phase. Those unstable zeros make the robustness in any meaning of the digital control system inferior.To get around the problem we have proposed the 2-delay digital control method in which the output signal at the inter-sampling point is measured as an auxiliary output in addition to the measurement of the output at the ordinary sampling point. If such a method is introduced the zeros can be assignable and the problem mentioned is solved. We have got the following results in this research1) We have realized a stable inverse system using 2-delay control2) We have constructed a robust digital control system even when the state variables are inaccessible3) We have shown the minimum H* norm of the complementary sensitivity function.4) Many experiments in a DC motor control have shown robustness properties of 2-delay control5) Many new theoretical results have been obtained in studies on H* control theory