时滞控制及其应用

Time delay control and its applications

中文关键词  时滞  时滞控制  时滞系统  时滞滤波器  时滞观测器  时滞学习控制器  输入整形  重复控制

英文关键词  time delay  time delay control  time delay system  time delay filter  time delay observer  time delay learning controller  input shaping  repetitive control

中文摘要

      时滞控制研究的是如何有意识地、合理地在控制器中引入时滞来改善控制系统的性能, 主要由时滞滤波、时滞观测、时滞学习控制三个分支组成. 时滞滤波器利用时滞来滤除按指数衰减的正弦信号, 主要应用于抑制柔性机构的残留颤抖; 时滞观测器利用时滞来观测系统存在的不确定性以及受到的外部干扰, 从而实现系统的鲁棒控制; 时滞学习控制器利用时滞来学习任意周期的周期信号, 实现对任意周期信号的无差跟踪. 系统地提出了时滞控制的概念, 阐明了时滞控制的研究目的和主要研究内容, 综述了时滞控制的研究现状、应用实例, 并提出了一些值得深入研究的问题.

英文摘要

      Time delay control (TDC) is to, intentionally and reasonably, use delay in controller to improve the system performances. It mainly consists of time delay filter (TDF), time delay observer (TDO), and time delay learning control (TDL). Time delay filter, using delay to attenuate or eliminate the damped exponential sinusoidal signals, is mainly applied to reduce the residual vibration of flexible structures. Time delay observer is a method of robust control that uses time delay to observe the uncertainties and disturbances. Time delay learning control, using delay to learn the periodic signal, is applied to track the periodic signal without error. Firstly, the concept of time delay control is presented in this paper to cover all the cases which delay is used in the controller (mainly for delay_free processes). Secondly, the research aim and main subjects of TDC are introduced. Thirdly, the current research situation and the applications are summarized. Lastly, some prospective subjects are proposed for reference.