二阶动力学系统的P-D反馈鲁棒极点配置

考虑二阶动力学系统中比例加微分反馈的鲁棒极点配置问题,即求取一比例加微分反馈控制器,在满足闭环系统特性要求的前提下,使得闭环系统特征值关于参数摄动具有最小的灵敏度.基于特征结构配置参数化结果,该问题可转化为含有约束条件的优化问题.给出求解该控制问题的算法,直接基于二阶动力学系统原型,只涉及n-维矩阵计算,便于工程应用.三级质量弹簧系统的仿真表明所提方法的有效性.

Robust pole assignment in second-order dynamic systems by P-D feedback

The problem of designing robust pole assignment via proportional-plus-derivative(P-D) feedback controllers for a class of second-order dynamic systems is considered. The purpose is to design a P-D feedback controller which gives closed-loop eigenvalues with minimum sensitivities with respect to the system parameter perturbations. By utilizing P-D feedback eigenstructure assignment result, the problem is changed into an optimization problem. An algorithm for this robust pole assignment problem is then proposed, which utilizes directly the original system data and involves manipulations on only n-dimensional matrices, and is thus convenient to use. A three- spring-mass-dashpot system is employed to demonstrate the proposed approach, simulation results show the effect of the proposed method.