發(fā)布時(shí)間：2018-10-29 17:12

【摘要】：廣義系統(tǒng)與正常系統(tǒng)相比,在形式上更具一般性,應(yīng)用范圍更廣,對(duì)廣義系統(tǒng)的研究也取得了一些成果,航空航天控制,振動(dòng)控制,機(jī)器人的控制等問(wèn)題又都可以用二階動(dòng)力學(xué)系統(tǒng)的控制和設(shè)計(jì)問(wèn)題來(lái)刻畫(huà)。因此,本文選擇廣義二階動(dòng)力學(xué)系統(tǒng)作為研究對(duì)象。隨著實(shí)際工程對(duì)高精度的需求,對(duì)于傳統(tǒng)特征結(jié)構(gòu)配置的創(chuàng)新正成為研究熱點(diǎn)。在設(shè)計(jì)廣義二階動(dòng)力學(xué)系統(tǒng)控制器時(shí),可以通過(guò)對(duì)魯棒性能指標(biāo)的優(yōu)化,使閉環(huán)系統(tǒng)具有期望的特性。本文利用特征結(jié)構(gòu)配置的參數(shù)化方法對(duì)廣義二階系統(tǒng)進(jìn)行了反饋控制,在質(zhì)量-彈簧-阻尼系統(tǒng)當(dāng)中得到驗(yàn)證,并改善系統(tǒng)的響應(yīng)特性。本文主要探討的問(wèn)題分為以下兩點(diǎn):1)根據(jù)廣義系統(tǒng)的特性,提前設(shè)定控制律的形式,即位置-加速度反饋,利用反饋消除脈沖的影響。結(jié)合右互質(zhì)分解,推導(dǎo)反饋控制器的參數(shù)化形式。2)為了使系統(tǒng)受到擾動(dòng)能盡量保持原有特性,提出相應(yīng)的魯棒性能指標(biāo),提高閉環(huán)系統(tǒng)的魯棒性。針對(duì)上述問(wèn)題,完成的創(chuàng)新工作有以下三點(diǎn):一、基于位置-加速度反饋解決廣義二階動(dòng)力學(xué)系統(tǒng)的特征結(jié)構(gòu)配置問(wèn)題。位置-加速度反饋控制律作用于廣義系統(tǒng)時(shí),可以改變系統(tǒng)的動(dòng)態(tài)階,消除廣義系統(tǒng)脈沖響應(yīng)的影響。而且對(duì)于一些類(lèi)型的系統(tǒng),特別是大的柔性結(jié)構(gòu),使用加速度計(jì)測(cè)量系統(tǒng)的動(dòng)態(tài)響應(yīng)比位置和速度傳感器更加準(zhǔn)確。二、允許閉環(huán)系統(tǒng)特征值未知,并基于右互質(zhì)分解和矩陣初等變換,利用提出的特征結(jié)構(gòu)參數(shù)化方法,推導(dǎo)廣義二階動(dòng)力學(xué)系統(tǒng)的特征向量矩陣和反饋增益控制器的參數(shù)化表達(dá)式,該參數(shù)化的表達(dá)式為系統(tǒng)提供的自由度可以用于該系統(tǒng)的魯棒性設(shè)計(jì)。該算法具有簡(jiǎn)單有效,計(jì)算量小,求解精度高的優(yōu)點(diǎn),能夠比較有效地用于廣義二階動(dòng)力學(xué)系統(tǒng)控制器的設(shè)計(jì)。三、提出一個(gè)新的測(cè)量廣義二階系統(tǒng)靈敏度的性能指標(biāo),提高系統(tǒng)的魯棒性。使閉環(huán)系統(tǒng)的特征值在指定區(qū)域內(nèi)的同時(shí),也希望特征值對(duì)于參數(shù)的擾動(dòng)不敏感。與以往不同的是,該性能指標(biāo)對(duì)位置和加速度反饋增益矩陣也進(jìn)行了優(yōu)化設(shè)計(jì),防止系統(tǒng)被代入大幅值的控制輸入。
[Abstract]:Compared with normal systems, singular systems are more general in form and wider in scope of application. Some achievements have been made in the study of singular systems, such as aerospace control, vibration control, The control problem of robot can be described by the control and design of the second order dynamic system. Therefore, the generalized second order dynamical system is chosen as the research object in this paper. With the demand of high precision in practical engineering, the innovation of traditional feature structure configuration is becoming a research hotspot. In the design of the controller of generalized second-order dynamical system, the closed-loop system can have the desired characteristics by optimizing the robust performance index. In this paper, the feedback control of generalized second-order system is carried out by the parameterized method of eigenstructure collocation, which is verified in mass-spring-damping system, and the response characteristic of the system is improved. The main problems discussed in this paper are as follows: 1) according to the characteristics of the singular system, the form of the control law is set in advance, that is, the position-acceleration feedback, and the feedback is used to eliminate the influence of the pulse. The parameterized form of the feedback controller is derived by combining the right co-prime decomposition. 2) in order to keep the original characteristics of the system disturbed as much as possible, the corresponding robust performance index is proposed to improve the robustness of the closed-loop system. In order to solve the above problems, the innovative work is as follows: first, based on position-acceleration feedback, the eigenstructure configuration problem of generalized second-order dynamical systems is solved. When the position-acceleration feedback control law is applied to the singular system, the dynamic order of the system can be changed and the impulse response of the singular system can be eliminated. For some types of systems, especially for large flexible structures, the dynamic response of the system measured by accelerometers is more accurate than that of position and velocity sensors. Secondly, the eigenvalues of the closed-loop system are allowed to be unknown, and the parameterization method of the eigenstructure is proposed based on the right co-prime decomposition and the elementary transformation of the matrix. The parametric expressions of eigenvector matrix and feedback gain controller for generalized second-order dynamical systems are derived. The degree of freedom provided by the parameterized expressions can be used in the robust design of the system. The algorithm has the advantages of simple and effective, low computational complexity and high accuracy. It can be used in the design of the controller of generalized second-order dynamical system more effectively. Thirdly, a new performance index for measuring the sensitivity of singular second order system is proposed to improve the robustness of the system. The eigenvalue of the closed-loop system is not sensitive to the parameter perturbation while the eigenvalue is in the specified region. Different from the past, the performance index also optimizes the position and acceleration feedback gain matrix to prevent the system from being substituted into the control input of the large value.
【學(xué)位授予單位】：東北電力大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP13

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本文編號(hào)：2298308