摘要
为了使植保机喷杆在作业过程中能平稳施药,基于植保机喷杆状态空间模型,应用鲁棒保性能控制理论设计状态反馈控制器,使系统在考虑模型不确定性的情况下具有鲁棒性.引入了H∞理论来抑制外部扰动对被控输出带来的不良影响,以线性矩阵不等式(LMI)的形式给出了喷杆系统满足二次稳定、H∞性能约束和存在性能指标上界的条件.仿真结果表明,所设计的控制器能使存在不确定性和外部扰动的植保机喷杆系统具备较强的鲁棒性,有效抑制喷杆的有害振动.
In order to guarantee the spray boom of plant protection machine for smooth spraying during operation process,based on the space model for spray boom state of plant protection machine,a state feedback controller was designed using the robust guaranteed performance control theory to make the system have robustness with the consideration for model uncertainty. The H∞ theory was introduced to suppress the adverse effect of external disturbance on the controlled output. In the form of linear matrix inequality( LMI),the state under which the spray boom system met the quadratic stability,H∞ performance constraint and the upper bound of performance indexes was defined. The simulation results show that the designed controller can make the spray boom system of plant protection machine,which was subjected to the uncertainty and external disturbance,have strong robustness and effectively suppress the harmful vibration of spray boom.
作者
王向东
魏浩
WANG Xiang-dong;WEI Hao(School of Information Science and Engineering,Shenyang University of Technology,Shenyang 110870,China)
出处
《沈阳工业大学学报》
EI
CAS
北大核心
2019年第6期669-674,共6页
Journal of Shenyang University of Technology
基金
国家重点研发计划项目(2016YFD0700104-2)
关键词
植保机
喷杆
鲁棒保性能控制
状态反馈控制器
H∞性能约束
不确定性
线性矩阵不等式
二次稳定
plant protection machine
spray boom
robust guaranteed performance control
state feedback controller
H∞ performance constraint
uncertainty
linear matrix inequality
quadratic stability
