基于最优估算的状态观测器的设计与研究论文.docVIP

基于最优估算的调速状态观测器的设计及研究 摘要 状态反馈是现代控制理论中一种非常重要的控制规律。在工程实践中，当状态变量不能直接检测时，通常构造系统的渐近状态观测器来重构系统的状态以实现状态反馈。我们经常看到书中，状态观测器的设计都是默认系统的输出完全可测。然而，在工程实践中，由于物理或经济条件所限，某些控制系统的输出变量并不能够完全可测。例如在直流调速系统中，负载转矩作为一个外加扰动量而存在。负载转矩的测量是十分困难的，负载转矩观测器估值，实现对转矩的测量，从而实现对转矩变化的扰动补偿。 BASED ON THE OPTIMAL ESTIMATION SPEED CONTROL SYSTEM STATE OBSERVER DESIGN AND RESEARCH ABSTRACT State feedback is a kind of very important control law in the modern control theory. In the engineering practice, when the state variables can not be measured directly, they are usually constructed by the asymptotic state observer of the system to realize the state feedback. In the past literatures, when designing the state observers, authors always took it for granted that the output variables could be measured completely. However, in the engineering practices, limited by the physical or economic conditions, the output variables of some control systems could not be measured completely. We take the DC converter system for an example, the load-torsion is seemed as an additional disturbance. But it difficult for us to measure it, thus we can get use of the state observer to reconstruct the load-torsion. For the existing DC motor, it is hard and less economic for us to equip speed-measuring machine. Thus we need to design a state observer to estimate speed and the load torsion, and the estimation will be used as the plant of the state feedback, and doing this can make the system more economic and be more anti-disturbance. KEYWORDS: state observers, state feedback , optimal estimation 目 录 中文摘要 ABSTRACT 第一章 状态观测器及其应用 1 1.1 状态观测器 1 1.1.1 全阶观测器的设计准则 3 1.1.2全阶观测器的系统分析 4 1.1.3观测器的极点配置 5 1.1.4降阶观测器 5 1.1.5进一步的讨论 7 1.2 直流调速系统中状态观测器的应用 8 第二章 系统各部分介绍及设计内容 10 2.1 直流电动机 10 2.2 桥式可逆PWM变换器 11 2.3 PWM控制器 12 2.4 转速、负载转矩调节器的设计 14 2.5 降阶状态观测器的设计 18 第三章 系统各部分介绍及设计内容 22 3.1 MATLAB/SIMULINK 简介 22 3.2 基于MATLAB的控制系统仿真及分析 22 第四章 小结 27 谢辞 28 参考文献 29 附录 外文资料翻译 30 原文 30 译文 38 第一章 状态观测器及其应用 带状态观测器的状态反馈系统引入状态反馈可以得到较好的系统性能，而实现状态反馈的前提是状态变量必须能