强大的内部模型控制基于一个新的通用扩展状态观察者及其应用在两个惯性系统
Fan Wang1, Tianji Cheng2, Feng Jing1
1Xi'an Institute of Optics and Fine Mechanics, Chinese Academy of Sciences, Xi'an 710119, China; Key Laboratory of Space Precision Measurement, Chinese Academy of Sciences, Xi'an 710119, China.
ISA transactions
|July 10, 2024
概括
这项研究整合了干扰观察器 (DOB) 和扩展状态观察器 (ESO) 以加强干扰抑制. 一个新的强大的内部模式控制 (RIMC) 方案提高了系统的稳定性和共振抑制.
科学领域:
- 控制系统工程 控制系统工程
- 强大的控制理论.
- 基于观察者的控制控制
背景情况:
- 干扰观察员 (DOB) 和扩展状态观察员 (ESO) 是控制系统中管理不确定性的关键.
- 有效地整合DOB和ESO以改善干扰抑制是持续的研究挑战.
研究的目的:
- 开发DOB和ESO的有效集成,以提高干扰估计和补偿.
- 提出一个强大的内部模式控制 (RIMC) 方案,以提高系统性能.
- 为了验证拟议的RIMC方案在稳定性,干扰排斥和共振抑制方面的优越性.
主要方法:
- 整合了DOB与ESO的补偿机制,以解决估计错误.
- 引入一个通用的ESO (GESO) 来取代标准的ESO.
- 在使用GESO的两度自由度内部模式控制 (TDF-IMC) 框架内开发了一个强大的内部模式控制 (RIMC) 方案.
- 提供了一个频域导出,证明RIMC和经典TDF-IMC之间的等价性.
主要成果:
- 成功地集成了DOB和ESO,利用DOB来补偿ESO的估计错误.
- 通过严格的导出,证明了拟议的RIMC和传统的TDF-IMC的等价性.
- 在双惯性系统上验证了RIMC方案在稳定性,干扰排斥和共振抑制方面的卓越性能.
结论:
- 拟议的DOB和GESO的整合提供了一种有效的干扰补偿方法.
- 该RIMC方案在控制系统性能方面提供了显著的改进,特别是在处理干扰和抑制共振方面.
- 开发的控制策略对像双惯性系统这样的系统非常有效,增强了整体的稳定性和稳定性.
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