文章摘要
引用本文:李海霞,李钟慎.基于条件技术的三自由度内模控制抗饱和设计[J].福州大学学报(自然科学版),2008,36(Z1):
基于条件技术的三自由度内模控制抗饱和设计
Design of anti-windup based on a scheme of 3-DOF internal model control
  
DOI:
中文关键词: 抗饱和  内模控制  三自由度  条件技术
英文关键词: anti-windup,internal model control,3-DOF,conditioning technique
基金项目:福建省自然科学基金
作者单位
李海霞,李钟慎 1. 华侨大学机电及自动化学院,福建,泉州,362021
2. 华侨大学科研处
,福建,泉州,362021 
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中文摘要:
      在研究二自由度内模控制具有抗饱和功能的基础上,提出了三自由度内模控制抗饱和框架.详细阐述了3个控制器的设计步骤,并分析了系统的渐近稳定性.Q1(s)和Q2(s)采用传统的内模控制原理设计,Q3(s)采用条件作用技术设计.通过Popov稳定性判据证明了系统的渐近稳定性.经仿真表明,三自由度内模控制抗饱和结构具有抗饱和、参考跟踪和抗干扰的功能.
英文摘要:
      A framework of 3-DOF internal model control for anti-windup was devised after analyzing the 2-DOF internal model control's function of anti-windup.And the steps of designing the three controllers were given out in details.The stability of the system was also analyzed.The design of Q1(s)and Q2(s) used the theory of internal model control and the design of Q3(s) used the method of conditioning technique.The analysis of the stability of the system used the Popov's criterion.The result of the simulation has demonstrated that this method can realize the decoupling of anti-windup,reference tracing and disturbance rejection.
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