频域加权LQR控制器改进设计

基于线性二次型调节器(Linear Quadratic Regulator,LQR)控制方法,设计一种频域加权LQR控制器;通过对其常用滤波器进行改进,提出一种新型滤波器设计思路。当振源频率低于执行器下限响应频率,导致执行器输出减小时,通过改变滤波器参数、增大低频部分权重及控制力,可提高低于执行器响应下限频段的控制性能。仿真结果表明,频域加权的方法可以提升LQR控制器在特定频域下的控制性能;基于新型滤波器的改进频域加权LQR控制器与未改进前相比,下限响应频率之外的控制性能得到进一步提升。

Improved design of frequency weighted LQR controller

Based on the LQR(linear quadratic regulator) control method, a frequency domain weighted LQR controller was designed. By improving the commonly used filters, a new filter design idea was proposed. When the vibration source frequency is lower than the lower limit response frequency of the actuator and the actuator produces a reduced output, the control performance of the frequency band lower than the lower limit of the actuator response is improved by changing the filter parameters, increasing the weight and control force of the low-frequency part. The simulation results show that the frequency domain weighting method can improve the control performance of the LQR controller in a specific frequency domain, and the control performance of the improved frequency domain weighted LQR controller based on the new filter is further improved beyond the lower limit response frequency.