含有控制器不确定性的转台控制系统设计控制科学与工程专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - II - Abstract Based on the turntable servo system, the uncertainty of controller caused by sampling period fluctuating was studied in this work. Moreover, the synthesis problem of controller in the turntable servo system was investigated with the robust control theory on the basis of the analysis of the effect of the model and controller fluctuation to the system. Firstly, the overall structure of servo turntable system was analyzed and confirmed. The mathematic model of turntable system was deduced and made out by Least Square Method. The uncertainty and its formation reasons appeared in the system was analyzed in detail. Two main uncertainties, the controller fluctuation and high frequency no modeling dynamic, were described with the model of unstructured multiplicative uncertainty. The method converting controller uncertainty to model uncertainty was introduced. The select and adjustment principle of tracking weighted function was given out Secondly, the concept of the standard H∞ problem was introduced based on the relationship between performance index and robust stability in H∞ control theory to solve the problem of robust control in the uncertain system. The structured singular value theory was used to reduce the conservation of the standard H∞ design in the multi-uncertain system. The sufficient and indispensable condition of the robust stability and robust performance was investigated with the theory of μ -analysis and synthesis. This condition was described with an inequation of matrix structured singular value. At the same time, the basic framework of μ -analysis and synthesis was set up. The principle and approach of μ -analysis and synthesis controller computing was given. Finally, the basic problems of the system design and the performance - - III - requirement were described, and the robust controller of the turntable servo system was designed based on the μ -analysis and synthesis framework. Th