标题: 利用双性能指标作伺服控制系统之最佳化设计
Two-Performance-Index Optimization for a Servomechanism Design
作者: 黄明圣
Ming-Sheng Hwang
李福进
Fu-Ching Lee
电子研究所
关键字: 最佳控制器;控制器起始状态值;确定性讯号;随机性讯号;Optimal Controller;Initial State of Controller;Deterministic Signal;Stochastic Signal
公开日期: 1994
摘要: 本文旨在探讨一种兼具指令追踪与排除杂讯功能的控制系统设计法则。此
法应用两个较新的观念,即(一)设定控制器的起始状态值与(二)依
照"混合式"准则作最佳化设计。在控制器的起始状态可自行调整的前提下
,设计自由度将得以加大。因此,仅用单一控制器即可让两个性能指标同
时达到最佳化的目的。此二性能指标,其一显示追踪能力;另一以反映排
除杂讯的能力为主。前者系一确定式代价函数;后者为包含随机性及确定
性讯号的混合式代价函数。其中,根据后者而做的最佳化设计,可让吾人
在兼顾指令追踪的需求下,同时加强排除杂讯的能力。本法所获致之最佳
控制器,包含指令追踪所须的内造模型。因之,即使在控制器起始状态无
法准确设定的情况下,亦能达到确定性指令"渐进追踪"的目标。本法另一
优点为:控制器的动态参数不必随着系统起始值的改变而重行设计。
In this thesis, we investigate a design method for command
tracking with noise rejection. Two relatively new concepts are
applied in this method: (1) assignment of a controller's
initial state and (2) optimization according to a mixed-type
criterion. The design variable, "controller's initial state,"
has broadened the freedom of design, so that two performance
indices can be optimized simultaneously. About these two
performance indices, one is a deterministic-type cost function
for command tracking, and the other is a mixed-type cost
function for noise rejection. The application of the latter one
allows us to improve the ability of noise rejection while also
take care of the need for command tracking. Furthermore, the
resulting optimal controller contains an internal model, so
that asymptotic tracking occurs for the deterministic command,
even with an inaccurate assignment of the controller's initial
state. Another advantage with this method is an invariance
property in the sense that the assignment of the controller's
dynamic parameters is independent of the system's initial state.
URI: http://140.113.39.130/cdrfb3/record/nctu/#NT830430002
http://hdl.handle.net/11536/59184
显示于类别:Thesis