具有可测强外扰作用的伺服系统应用二次型最优控制和最优观测器的工程实践
Engineering Practice of Applying LQ Optimal Control and Optimal Observer to Servo-System with Measurable Strong External Disturbance
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摘要: 本文应用线性二次型最优控制理论设计了具有可测强外扰作用的伺服系统.该系统不仅 具有最优的状态反馈,而且具有最优的前馈补偿和外扰补偿,系统性能有明显的提高.文中还 介绍了当系统的状态不能直接量测时,最优状态观测器的设计问题.通过一个电液力伺服系 统的实例具体说明了设计步骤、计算结果和实验结果.Abstract: A servosystem with measurable strong external disturbance is designed by LQ optimal theory in this paper. The resultant system has not only an optimal state-variable feedback but also an optimal feedforward compensator and an optimal compensator of disturbance, therefore the performance of the system is appreciably improved. A design method of an optimal observer is also introduced in this paper for the case when the states of the system can not be measured directly. As an example, an electric-hydraulic ]oading system has been introduced to illustrate the design procedure and the results of calculation and experiment.
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