指定极点区域的H-设计方法及实例研究

H- Design Method for Assigned Poles Region and Case Study

中文关键词  极点区域  稳定控制器  倒立摆

英文关键词  poles region  stable controller  inverted pendulum

中文摘要

      本文提出了一种综合考虑闭环动态性能，鲁棒性及控制器本身稳定性的指定极点区域的H-设计方法，给出了利用实参数寻优求解最优控制器的方法。并用这种方法设计了一个倒立摆平衡控制器。仿真研究结果表明，与LQ和常规H-设计方法相比，按本文所提出的设计方法得到的控制器具有鲁棒稳定能力强，闭环动态性能良好及控制器稳定等优点，具有很好的应用前景。

英文摘要

      In this paper, an H- design method for assigned poles region is proposed. The method considers close-loop dynamic performance, robustness and controller’s stability as a whole. A method of obtaining optimal controller using real parameter optimization is given. An inverted pendulum equilibrium controller is designed using the proposed method. Simulation results show that, compared with the controller designed by LQ and conventional H- design method, the controller designed by proposed method has the advantages of strong robust stability, good close-loop dynamic performance and stable controller. Hence, the proposed method has good application prospect.