恒速旋转控制系统中位置相关扰动的抑制——一种非线性重复控制方法

Elimination of Position-Dependent Disturbances in Constant-Speed-Rotation Control Systems—A Nonlinear Repetitive Control Approach*

中文关键词  恒速旋转控制系统  位置相关扰动  位置域  输入-输出线性化  重复控制  H∞控制

英文关键词  constant-speed-rotation system  position-dependent disturbances  position domain  input-output linearization  repetitive control: H∞, control

中文摘要

      为了抑制恒速旋转控制系统中的位置相关扰动，我们提出了一种非常有效的方法，它引入一种称为“位置域”的新概念．但是，由于一个线性对象的位置域模型实际上是非线性的，因而线性控制策略有时不能满足设计要求．本文提出一种非线性重复控制方法来解决这个问题，设计控制系统的过程分为两步，首先是利用输入-输出线性化方法把位置域非线性对象的输入．输出特性线性化，然后针对线性化对象设计一种重复控制器，以保证好的控制性能.

英文摘要

      To eliminate position-dependent disturbances in a constant-speed-rotation system,we have proposed a very effec- tive approach that introduces a new concept called the"position domain" .However,because the position domain model of a linear plant is in fact nonlinear,a linear control strategy may not meet the design requirements.To solve this problem,this paper pro-poses a nonlinear repetitive control approach.The procedure for designing a control system comprises two steps.First,an input-output linearization approach is used to linearize the input-output characteristics of the nonlinear plant in the position domain. Then, a repetitive controller is designed for the linearized plant to ensure good performance.