基於預測干擾觀測器控制雙輸入雙輸出有輸入時間延遲與輸出時間延遲的穩定系統

Abstract

本文提出一個對於雙輸入雙輸出穩定系統含有輸入時間延遲與輸出時間延遲的預測干擾觀測器。本文控制架構包含可將雙輸入雙輸出系統簡化為兩個單輸出單輸出系統的解藕器。針對抑制干擾，本論文基於預測控制的概念，利用干擾的特性消除時間延遲的影響，因此可以得到更好的干擾抑制。預測干擾觀測器可以用來提升時間延遲系統的性能與抑制干擾的能力，其控制架構可抑制常見的確定性干擾，包括步階、斜坡、正弦干擾。控制架構對於雙輸入雙輸出穩定系統含有輸入時間延遲與輸出時間延遲可以分別對追蹤設定點以及抑制干擾的控制器設計。也針對架構分析內部穩定度和強健穩定度。在模擬部份, 討論系統存在不確定性時強健穩定度與干擾的抑制能力。

This thesis presents a predictive disturbance observer for two-input-two-output (TITO) stable systems with input delay and output delay. The controlling method proposed here incorporates a decoupler in the forward loop to compensate model coupling, which makes the complicated TITO system solvable as two simple SISO (single-input-single-output) systems. For the disturbance rejection, the concept of predictive control is used based on the characteristic of deterministic disturbances to eliminate time delay effect, hence the proposed scheme can obtain better disturbance rejection. Predictive disturbance observer (PDOB) can improve the performance of time delay system and reject various forms of deterministic disturbance, including the step, ramp and sinusoidal disturbance. The scheme can separate design controller for set-point tacking and for disturbance rejection with a predictive disturbance observer for two-input-two-output (TITO) stable systems with input delay and output delay. Internal stability and robustness of the proposed closed-loop system are analyzed. When the system exist the uncertainty, robust stability and disturbance rejection of the system are discussed in the simulation.