毕业设计（论文）-鲁棒控制的非线性干扰观察器研究.docVIP

摘 要 现代工程技术系统正朝着大规模、复杂化的方向发展，控制系统一旦发生事故就可能造成人员和财产的极大损失。因而切实保障现代复杂系统的可靠性和安全性具有十分重要的意义。我们知道，对于转台伺服系统的鲁棒控制，为了实现对干扰的完全抑制，本文将外部力矩干扰及模型参数变化造成的实际对象与名义模型输出的差异等效到控制输入端，即观察出等效干扰，在控制中引入等效的补偿。 本文目的是研究基于干扰观察器的PID控制。PID控制是工业过程控制中应用最广的策略之一。它是将具有放大功能的比例P（Proportional），积分I（Integral），微分D（Derivative）的各种功能并行结合的。针对上述问题，本文提出了利用MATLAB观察出等效干扰，在控制中引入等效的补偿的方法。经过实例的的验证，算例的结果表明，本文提出的鲁棒控制的非线性干扰观察器研究是有效的，它的实验方法是可行的。 关键词： 鲁棒控制，干扰，PID，非线性，等效补偿 Study On Non-linear Disturbance Observation Of the Robust Controls ABSTRACT The modern project technology system is large-scale facinglarge-scale, the complication direction is developing, the controlsystem once has the accident on possibly to create the personnel andthe property enormous loss. Thus practically safeguards the modern complex system the reliabilityand the security has the extremely vital significance. We knew, regarding turnplate servosystem Lu stick control, in order torealize to the disturbance complete suppression, this article theactual object and the nominal model output difference which createsexterior moment of force disturbance and the model parameter changeequivalent enough to controls the input end, namely observes theequivalent disturbance, introduces equivalent compensating in thecontrol. This article goal is the research based on the disturbance observation PID control. The PID control is in the commercial run control applies one ofbroadest strategies. It is has the enlargement function proportion P (Proportional),integral I (Integral), differential D (Derivative) each kind offunction parallel union. In view of the above question, this article proposed observes theequivalent disturbance using MATLAB, introduces the method in thecontrol which equivalent compensates. After example the confirmation, calculated the example the resultindicated, this article proposed the Lu stick controls the non-lineardisturbance observation research is effective, its experimentaltechnique is feasible. Ke