Robustna polinomska sinteza regulatorja z optimizacijo norme Hinf

Sarjaš, Andrej

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Title:	Robustna polinomska sinteza regulatorja z optimizacijo norme Hinf
Authors:	ID Sarjaš, Andrej (Author) ID Svečko, Rajko (Mentor) More about this mentor...
Files:	DR_Sarjas_Andrej_2011.pdf (5,63 MB) MD5: 39AED96243335B430262AB085529A53D PID: 20.500.12556/dkum/022614ec-a65b-4b50-b85a-a92dfef7ed31
Language:	Slovenian
Work type:	Dissertation
Typology:	2.08 - Doctoral Dissertation
Organization:	FERI - Faculty of Electrical Engineering and Computer Science
Abstract:	V disertaciji je predstavljena nova metoda sinteze robustnega regulatorja s tehniko pomikanja polov. Metoda vključuje rešitev polinomske enačbe na osnovi izbranega karakterističnega polinoma, s pomočjo Manabe-jeve standardne oblike polinoma ter vpeljanimi parametričnimi rešitvami. Parametrične rešitve so vpeljane direktno v strukturo regulatorja. Na osnovi izbranih parametričnih rešitev se s pomočjo modelov odstopanj in vrednotenjem norme ‖∙‖_∞ oceni robustnost zaprto zančnega sistema. Postopek načrtovanja z optimizacijo je izvedena z genetskim algoritmom Diferencialna evolucija – DE. Optimizacijski algoritem DE tekom optimizacije določa sub-optimalno rešitev na osnovi koeficientov spektralnega kvadratičnega polinoma in Šiljakovim absolutnim testom stabilnosti. Stabilnost sintetiziranega regulatorja je možno, ob postavljeni zahtevi stabilnosti regulatorja tekom optimizacije testirati s Lipatov-im kriterijem. Oba uporabljena pristopa; Šiljakov test in Liaptov kriterij, preverjata lastnost robustne stabilnosti in stabilnost regulatorja na osnovi koeficientov danega polinoma. Kriterija sta primerna, za avtomatizirano načrtovanje zaprto zančnega sistema in uporabo v sklopu optimizacijskih algoritmov, kot je DE. Primer načrtovanja regulatorja z razvito metodo, je predstavljen za izbran problem servo sistema z enosmernim elektromotorjem. Tekom postopka sinteze upoštevamo odstopanje parametrov motorja ter spremembo delovne točke zaradi spremenljivega bremena.
Keywords:	robustno vodenje, tehnika pomikanja polov, nestrukturirana odstopanja, Lipatov stabilnostni kriterij, spektralni polinom, Šiljakov test pozitivnosti, numerična optimizacija
Place of publishing:	[Maribor
Publisher:	A. Sarjaš]
Year of publishing:	2011
PID:	20.500.12556/DKUM-19699
UDC:	681.515
COBISS.SI-ID:	257016832
NUK URN:	URN:SI:UM:DK:XS02ZGTN
Publication date in DKUM:	25.08.2011
Views:	3044
Downloads:	320
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Categories:	KTFMB - FERI
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Secondary language

Language:	English
Title:	Robust pole placement technique with optimization of norm Hinf
Abstract:	The dissertation describes the area of robust controller synthesis with pole placement technique. The new method includes solving a polynomial equation on the basis of the chosen characteristic polynomial using the Manabe standard polynomial form and parametric solutions. Parametric solutions are introduced directly into the structure of the controller. On the basis of the chosen parametric solutions the robustness of a closed-loop system is assessed through uncertainty models and assessment of the norm ‖∙‖_∞. The design procedure and the optimisation are performed with a genetic algorithm Differential evolution – DE. The DE optimisation method is determining a suboptimal solution throughout the optimisation on the basis of a spectrally square polynomial and Šiljak's absolute stability test. In case that stabile controller is demanded, the stability of the designed controller can be checked during the optimisation with Lipatov's stability test. Approaches like Šiljak’s test and Lipatov’s test, checks the robustness criterion and controller stability characteristics on the basis of polynomial’s coefficients. Both are very convenient for automated design of the closed-loop controlled systems and for application that include optimisation algorithms such as DE. In the dissertation an example of the robust controller synthesis with a presented method is described for the control of a servo mechanism with BDC electric motors, where uncertainty of the motor parameters and changing load is considered.
Keywords:	robust control, pole placement technique, unstructured uncertainty, Lipatov’s stability condition, spectral polynomial, Šiljak’s positivity test, numerical optimization

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