基于非最小状态空间模型的控制器设计及仿真

针对传统的状态空间方法在引进状态观测器后系统比较复杂、鲁棒性差的特点,提出了一种非最小状态空间模型描述方法。这种形式中的所有状态变量都能直接测量,适合实际工程应用。在此基础上,结合线性二次型最优控制方法求出状态反馈增益,设计了控制器结构。最后,对控制系统进行了仿真,并与传统的PID控制器进行了比较,结果表明该算法可以很好地满足精度和动态特性要求,特别具有较强的抗干扰性和鲁棒性。

Controller design and simulation based on non-minimal state space model

Considering the characteristics of complexity and decreased robustness of the conventional state space method with state observer, a non-minimal state space model is introduced. All the state variables in this form can be measured directly and therefore it is fit for practical engineering application. With the combination of linear quadratic optimum control method, the state feedback gain is obtained and controller structure is designed. Compared with conventional PID controller, the simulation results reveal that the algorithm can meet the requirements of accuracy and dynamic, and especially the control system has strong anti-jamming ability and robustness.