本文選題：線性系統(tǒng)　切入點(diǎn)：時(shí)滯　出處：《哈爾濱工業(yè)大學(xué)》2015年碩士論文

【摘要】：時(shí)滯現(xiàn)象廣泛存在于各種實(shí)際的控制系統(tǒng)中,在對(duì)系統(tǒng)進(jìn)行分析和設(shè)計(jì)的過程中如果忽略它們的影響,有可能導(dǎo)致系統(tǒng)性能變差,嚴(yán)重時(shí)也可導(dǎo)致系統(tǒng)不穩(wěn)定,許多學(xué)者對(duì)時(shí)滯系統(tǒng)展開深入的研究。在實(shí)際控制過程,如網(wǎng)絡(luò)控制系統(tǒng),生物化學(xué)反應(yīng),圖像處理領(lǐng)域等,通常不可避免地包含不確定和一定的外界擾動(dòng),在擾動(dòng)干擾統(tǒng)計(jì)特性未知但能量有界的情形下,設(shè)計(jì)合理的魯棒H_∞濾波器能夠很好的滿足要求,因此,研究魯棒H_∞濾波問題具有廣闊的應(yīng)用前景。論文研究了連續(xù)和離散變時(shí)滯系統(tǒng)的魯棒H_∞濾波器設(shè)計(jì),然后將設(shè)計(jì)的濾波器應(yīng)用在實(shí)際對(duì)象的數(shù)學(xué)模型中。主要內(nèi)容如下:針對(duì)連續(xù)時(shí)變時(shí)滯系統(tǒng),研究了其魯棒H_∞濾波分析和綜合問題。利用自由權(quán)矩陣方法,借助于杰森積分不等式及積分的性質(zhì),最終推導(dǎo)出系統(tǒng)具有H_∞性能的充分性條件,并給出系統(tǒng)H_∞濾波器存在的條件和參數(shù)化形式。通過數(shù)值例子與現(xiàn)有研究結(jié)果進(jìn)行對(duì)比。討論了離散變時(shí)滯系統(tǒng)的魯棒H_∞濾波分析和綜合問題,采用倒數(shù)凸組合方法,結(jié)合杰森積分不等式的性質(zhì),分別以LMI的形式給出系統(tǒng)具有H_∞性能的充分條件和魯棒H_∞濾波器存在條件及其參數(shù)化解,利用MATLAB LMI工具箱求解。通過數(shù)值例子我們可以證明結(jié)論是正確的。接下來本文研究了兩輪自平衡小車的建模和H_∞濾波器設(shè)計(jì)問題。具體來講,首先對(duì)自平衡小車的車體結(jié)構(gòu)和模型進(jìn)行牛頓力學(xué)建模和運(yùn)動(dòng)學(xué)分析,然后對(duì)線速度控制子系統(tǒng)進(jìn)行離散化并設(shè)計(jì)對(duì)應(yīng)的H_∞濾波器。仿真驗(yàn)證所給出H_∞濾波器具有一定的抗擾動(dòng)效果。
[Abstract]:The phenomenon of time-delay exists widely in various practical control systems. If the influence of the system is ignored in the analysis and design of the system, it may lead to the deterioration of the system performance and the instability of the system when it is serious. Many scholars have carried out in-depth research on time-delay systems. In practical control processes such as networked control systems, biochemical reactions, image processing and so on, uncertainties and certain external disturbances are usually unavoidable. Under the condition that the disturbance statistical characteristic is unknown but the energy is bounded, the reasonable robust H _ 鈭，

本文編號(hào)：1671136