最优预见伺服系统与最优预见FF补偿系统的统一处理
Unified Handling of Optimal Preview Servo Systems and Optimal Preview FF Compensating Systems
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摘要: 最优预见伺服系统一般与基本最优伺服系统共用同一个二次型性能指标函数设 计预见前馈补偿项,其设计的着眼点是进一步减小性能指标函数.当控制系统的基本反馈部 分不是采用最优控制方法设计时,历史上采用另一个性能指标函数设计预见前馈补偿,并把 所得系统称为预见FF(前馈)补偿系统.这里把两种设计方法统一起来处理后,不仅最优预见 伺服系统与最优预见FF补偿系统都仅仅是特例,而且给设计者扩大了选择的余地.最后给 出了数值仿真,把这种设计方法与最优伺服系统、最优预见伺服系统进行了比较.Abstract: Usually, an optimal preview servo system uses the same quadratic performance index as the original optimal servo system. The design idea is to further minimize performance index. If the known system was not designed with optimal control method, people would use a performance function dependent only on the feedforward terms to design the so-called optimal FF compensating system. Usually, these two kinds of systems are handled separately. In this paper, we present a method to deal with them at the same time such that the known optimal preview servo system and optimal FF compensating system are all special cases. Computer simulation is given at the end of this paper to compare this method with optimal servo system and optimal preview servo system.
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Key words:
- Servo system /
- preview servo system /
- optimal control /
- preview control
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