Systematization of Analysis and Design of Robust Control Systems via IMC Parametrization

通过 IMC 参数化实现鲁棒控制系统分析和设计的系统化

基本信息

批准号：
14550437
负责人：
WATANABE Keiji
金额：
$ 1.92万
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：
2002
资助国家：
日本
起止时间：
2002 至 2004
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550437/
关键词：
internal mode control internal model parametrization robust stability robust control inverse system decoupling time delay system IMCP 内部安定性 IMCパラメタライゼーションむだ時間一般化安定化器混合感度問 2自由度系

项目摘要

This research project presents the systematic analysis and design of robust control systems via IMC parametrization as follows.(1)The state space -IMC parametrization for multivariable systems is proposed by dividing it into 3 parts.(2)The relation between IMC parametrization and Yula parametrization is derived in the framework of state space. It is shown that the feedback matrix is related to the responses to the reference inputs and the observer matrix is concerned with the responses to the disturbances.(3)The IMC parametrization for servo systems is established.(4)The solution to the 2 disk mixed sensitivity problem, which yields lower sensitivity than the conventional robust control based on the 1 disk specification, is presented.(5)It is clarified that the H infinity control suffers from sluggish responses to input disturbances if the plant contains stable poles near the imaginary axis. The breakthrough method is presented on the basis of IMCP.(6)The adaptive IMC is presented.(7) The 2 disk mixed sensitivity problem of lame delay systems is solved by using IMC parametrization. Furthermore, The robust stable range is considerably enlarged by introducing Pade approximation.(8)The inverse system and decoupling for multivariable systems are proposed for design of IMC parametrization.(9)The systamtic design of robust control which includes from PID control to H infinity control for delay-free and delayed systems.

该研究项目通过以下IMC参数化介绍了可靠控制系统的系统分析和设计。（1）通过将其分为3个部分，提出了多变量系统的状态空间-IMC参数化。（2）IMC参数化与Yula之间的关系参数化是在状态空间框架中得出的。结果表明，反馈矩阵与对参考输入的响应有关，观察者矩阵与对干扰的响应有关。（3）建立了伺服系统的IMC参数化。（4）2磁盘的解决方案。提出了比基于1个磁盘规范的常规鲁棒控制的混合灵敏度问题，其灵敏度较低。（5）澄清说，如果植物在假想中含有稳定的杆子，则H Infinity Control对输入干扰的响应缓慢，而响应缓慢。轴。突破方法是根据IMCP提出的。（6）提出了自适应IMC。（7）使用IMC参数化解决了2个磁盘混合的la脚延迟系统的混合灵敏度问题。此外，通过引入板近似，可以大大扩大稳健的稳定范围。（8）提出了用于IMC参数化设计的多变量系统的逆系统和解耦。控制无延迟和延迟系统。