论文标题
非集中两质量振荡器的分数级和整数h-infinty控制的比较
Comparison of Fractional-Order and Integer-Order H-infinty Control of a Non-Collocated Two-Mass Oscillator
论文作者
论文摘要
我们考虑对具有显性输入延迟的两种质量振荡器的稳健控制。我们的目的是比较一种分数调整方法，包括使用经典的H-含量环形设计的非最低相位零的部分补偿，因为这两种设计都导致了相对较高的控制器顺序。首先，使用测量数据得出和验证了详细的物理模型。基于线性化模型，两个控制器都设计为可比性，即它们在开路中显示出相似的交叉频率，并且最终控制器顺序降低到两个设计的相同范围。两者之间的主要差异是如何包括馈送前进作用的不同方法。带有分数元素的环形方法使用平坦的输出依赖于植物，而H-Infinty设计结合了自由控制的两度，即，将参考信号包括在广义工厂的已知输入中。在模拟和实验中测试了每个控制器。由于两个开循环在关注频率范围内几乎相同，因此输入干扰实验的结果没有显着差异。在跟踪实验中清楚地看到了前馈路径的不同设计方法。
We consider the robust control of a two-mass oscillator with a dominant input delay. Our aim is to compare a fractional-order tuning approach including the partial compensation of non-minimum phase zeros with a classical H-infinity loop-shaping design, since both these designs lead to a relatively high controller order. First of all a detailed physical model is derived and validated using measurement data. Based on the linearized model both controllers are designed to be comparable, i.e. they show a similar crossover frequency in the open loop and the final controller order is reduced to the same range for both designs. The major differences between both are the different methods how the feed-forward action is included. The loop-shaping approach with fractional-order elements relies on the plant inverse using a flat output, whereas the H-infinty design incorporates a two-degree of freedom control, i.e. the reference signal is included into the known inputs of the generalized plant. Each controller is tested in simulation and experiment. As both open-loops are nearly identical in the frequency range of interest, the results from an input disturbance experiment show no major difference. The different design approaches of the feed-forward path are clearly visible in the tracking experiment.
