摘要
对于使用模型参考自适应控制的控制装置,在控制输入信号中很容易产生大振幅的高频振动。为实现无振动的控制输入信号,提出了一种使用输出误差信号的状态观测器来进行参数估计的方法。该方法能在理论上使控制输入信号以一定的收敛速率向理想输入信号收敛。理想输入信号由无初值和指数函数的精确模型匹配输入产生。基于该特性,可以保证在控制输入信号中不会产生无意义的挠动;且输出误差信号的瞬态响应可以通过一个设计参数进行调整。
In device control with a model reference adaptive controller, high frequency oscilla tion with large amplitude can easily occur in the input signal. To obtain a control input signal without oscillation, an estimator using an observer for the output error signal is proposed. It is shown theoretically that, with the estimator, the input signal converges at any rate to an ideal in- put. The ideal signal is generated by an exact model of an exponential function without initial val- ues to match the input. Based on this property, meaningless oscillation will not occur. It is also shown that the transient output error responses can be adjusted by setting design parameters.
出处
《上海电机学院学报》
2012年第6期374-378,408,共6页
Journal of Shanghai Dianji University
基金
上海电机学院基础建设学科资助(12XKJC02)
关键词
自适应控制
多输入多输出系统
平滑控制输入
状态观测器
输出反馈
adaptive control multiple-input multiple-output（MIMO） systems
smooth control in-put
observer
output feedback
