Q PARAMETER APPROACH TO DESIGN OF ROBUST CONTROL SYSTEMS WITH TIME DELAYS

鲁棒时滞控制系统设计的 Q 参数方法

• 批准号: 10650422
• 负责人: WATANABE Keiji
• 金额: $ 1.54万
• 依托单位: YAMAGATA UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10650422/
• 关键词: TIME DELAY SYSTEMS; Q PARAMETER; MIXED SENSITIVITY; Time Delay Systems; Q parameter; Mixed Sensitivity; Generalized Stabilizer; Mixed Sensitivity Probem

IN DESIGN OF CONTROL SYSTEMS, LOW SENSITIVITY IS REQUIRED TO YIELD SMLL ERROR FOR REFERENCE INPUTS IN THE PRESENCE OF ADDITIVE DISTURBANCES AND PERTURBATIONS OF THE CONTROLLED SYSTEMS. THE COMPLEMENTARY SENSITIVITY HAS TO BE SMALL FOR ROBUST STABILITY. HOWEVER, THEY ARE NOT ZERO SIMULTANIOUSLY. MIXED SENSITIBITY SPECIFICATION IS INTRODUCDED. THE CONTROLLER SATISFINIG THE SPECIFICATION CAN BE DESIGNED BY HィイD1∞ィエD1 CONTROL FOR DELAY-FREE SYSTEMS. IT BECOMES COMPLICATED FOR TIME-DELAY SYSTEMS.IN THIS RESEARCH, Q PARAMETER APPROACH TO DESIGN OF TIME DELAY SYSTEMS IS PRESENTED. DESIGN METHODOROGY OF GENERALIZED STABILIZER WITH Q PRAMETER IS DEVELOPED TO SATISFY THE MIXED SENSITIVITY SPECIFICATION FOR DELAY-FREE SYSTEMS. IT IS EXTENDED TO SYSTEMS WITH INPUT DELAYS AND OUTPUT DELAYS THE NUMERICAL EXPERIMENTS SHOW THAT THE PROPOSED METHOD IS USEFULL FOR ROBUST CONTROL OF TIME DELAY SYSTEMS. IT IS APPLIED TO VISUAL SERBOING SYSTEMS SUCCESSFULLY. THESE RESULTS ARE SYSTEMATIZED AS DESIGN OF ROBUST CONTROL OF TIME DELAY SYSTEMS BASED ON Q PARAMETER APPROACH.

在控制系统的设计中，在受控系统存在附加干扰和扰动的情况下，需要低灵敏度才能产生较小的参考输入误差，但为了实现鲁棒稳定性，互补灵敏度必须很小。引入了混合灵敏度规范，可以通过无延迟系统的D1控制来设计满足该规范的控制器，这使得时滞系统变得复杂。本研究采用Q参数方法来设计时滞。提出了具有 Q 参数的广义稳定器的设计方法，以满足无延迟系统的混合灵敏度规范，并将其扩展到具有输入延迟和输出延迟的系统。该方法适用于时滞系统的鲁棒控制，并成功应用于视觉伺服系统，并系统化了基于Q参数方法的时滞系统鲁棒控制的设计。

项目成果

G.IZUTA, T.WAGATUMA, K.WATANABE: "DESIGN OF THE GENERALIZED STABILIZING CONTROLLER FOR MULTIVARIABLE TIME-DELAY SYSTEMS"TRANS. SICE. 34, NO.9. 1214-1222 (1998)

G.Izuta、T.WAGATUMA、K.Watanabe：“多变量时滞系统的通用稳定控制器的设计”Trans。

G.IZUTA, K.WATANABE: "A NEW CONTROLLER PARAMETERIZATION OF MULTIVARIABLE SYSTEMS WITH INPUT DELAYS"EUROPEAN CONTROL CONFERENCE. DA-12. 1-6 (1999)

G.Izuta、K.Watanabe：“具有输入延迟的多变量系统的新控制器参数化”欧洲控制会议。

WATANABE: "MIXED SENSITIVITY PROBLEM OF SYSTEMS WITH DELAY IN INPUT"PROC. OF KOREA-JAPAN JOINT WORKSHOP ON ROBUST AND PREDICTIVE CONTROL OF TIME DELAY SYSTEMS. 128-134 (1999)

渡边：“输入延迟系统的混合灵敏度问题”过程。

IZUTA: "A-NEW CONTROLLER PARAMETRIZATION OF MULTI VARIABLE SYSTEMS WITH DELAYS"ECC99. DA-12・5. 1-6 (1999)

IZUTA：“带延迟的多变量系统的新控制器参数化”ECC99·5 (1999)。

Izuta: "A New Controller Pavametrization of Multivariable Systems with Delays"ECC99. DA-12・5. 1-6 (1999)

Izuta：“具有延迟的多变量系统的新控制器参数化”ECC99·5（1999）。