闭环两尺度系统复合LQR控制建模与设计方法

发布时间：2018-05-06 21:22

本文选题：两时间尺度 + 复合LQR控制　；参考：《控制与决策》2017年04期

【摘要】：分析了Kokotovic提出的复合LQR控制器设计方法,以复合控制与最优控制的性能指标差异为依据,评判了设计控制器过程中所建立的标准两尺度系统模型是否符合系统内在的时间尺度特性;指出了以开环时间尺度特性分解系统的缺陷,分析了系统参数变化对闭环时间尺度特性的影响;基于闭环时间尺度特性分析,提出了将一般线性动力学方程转换为标准两尺度系统形式的方法,并分析了小参数μ在复合控制器设计中的影响.依据该标准两尺度模型设计的控制器能够敏感由系统参数变化或反馈控制变化导致的时间尺度特性的改变,并能够得到满意的控制效果.
[Abstract]:The design method of compound LQR controller proposed by Kokotovic is analyzed, which is based on the difference of performance index between compound control and optimal control. Whether the standard two-scale system model established in the process of controller design accords with the inherent time scale characteristics of the system is evaluated, and the defects of decomposing the system with the open-loop time scale characteristic are pointed out. The influence of system parameters on the closed-loop time-scale characteristics is analyzed, and a method of converting the general linear dynamic equation to the standard two-scale system is proposed based on the closed-loop time-scale characteristic analysis. The influence of small parameter 渭 on the design of composite controller is analyzed. The controller designed according to the standard two-scale model can be sensitive to the change of time-scale characteristics caused by the change of system parameters or feedback control, and can obtain satisfactory control effect.
【作者单位】：北京航天自动控制研究所;北京宇航系统工程研究所;中国航天科技集团公司;
【基金】：国家自然科学基金青年科学基金项目(61403355)
【分类号】：TP273

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