基于条件技术的三自由度内模控制抗饱和设计-福州大学学报.PDFVIP

36 ( ) Vol. 36 Su . 2008 9 Journal of Fuzhou Un iversity( Natural Science) Se . 2008 : 1000- 2243( 2008) S0- S073- 05 1 2 , ( 1. , 362021; 2. , 362021) : , . 3, . Q 1 ( s ) Q 2 ( s) , Q3 ( s ) . Po ov. , . : ; ; ; : TP 13 : A Design of anti- windup based on a schem e of 3- DOF internalm odel control 1 2 LIH ai- xia, LI Zhong- shen ( 1. College ofM echan ical Engineering and Autom ation, H uaqiao Un iversity, Quanzhou, Fujian 362021, China; 2. Scientific Research Centre, H uaq iao University, Quanzhou, Fujian 362021, China) Abstract: A fram ework of 3- DOF internalmodel control for anti- w indu w as devised after analyzing the 2- DOF internalmodel control. s function of anti- w indu . And the ste s of designing the three controllersw ere given out in details. The stab ility of the system w as also analyzed. The design ofQ 1 ( s) andQ 2 ( s) used the theory of internalmodel control and the design ofQ3 ( s) used the method of condition ing technique. The analysis of the stability of the system used the Po ov. s criterion. The re- su lt of the smi u lation has demonstrated that th is method can realize the decou ling of anti- w indu , reference tracing and d isturbance rejection. Keywords: anti- w indu ; internalmodel control; 3- DOF; cond ition ing technique 1 . : , . : PID ( 1), , , u, , ur u, 1 PID y , , Fig. 1 L mi ited system