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Study on the 2-DOF Control Method Based on μ Synthesis and Application

Author: ZhangJiaMing
Tutor: YaoYu
School: Harbin Institute of Technology
Course: Control Science and Engineering
Keywords: servo control robust control 2-DOF μsynthesi
CLC: TP273
Type: Master's thesis
Year: 2008
Downloads: 70
Quote: 1
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Abstract


On the background of the servo control system of certain simulation table, the two-degree-of-freedom (2-DOF) control method is introduced, in order to improve the precision and robust performance; The 2-DOF robust controller is obtained based on certain simulation table servo control system, and the result of simulation and debugging validates the method proposed.Firstly, the mechanism model of permanent synchronous motor is derived and the machematics model of electrical simulation table is given. The main uncertainties, which impact on the performance of the closed loop, are analyzed and described. The scattered uncertainties are rearranged to block structure, which makes the design less conservative, then the plant uncertainties is obtained.Secondly, the robust 2-DOF controller design method is put forward on the background of simulation table. The sufficient conditions for robust stability and improvement in output-tracking performance with the use ofμsynthesis control theory, and the guidline for the seletion of performance weighting is given. Then, the procedure for robust compound controlled designed is introduced based on the framework ofμsynthesis control theory, and the method of parameterzing feedforward and feedback controllers is given.Finally, the robust 2-DOF controller design method based onμsynthesis is applied to the certain inner axis of simulation table. The certain controllers are realized,and the experimental results prove the effectiveness of these methods.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system
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