分?jǐn)?shù)階干擾觀測(cè)器研究.pdf

1、Y1404888分類(lèi)號(hào)：UDC：密級(jí)：學(xué)校代號(hào)：10150學(xué)號(hào)：20052166峽建交欹乎碩士學(xué)位論文分?jǐn)?shù)階干擾觀測(cè)器研究Research0nFractional0rderDisturbance0bserver學(xué)生姓名：導(dǎo)師及職稱(chēng)：學(xué)科門(mén)類(lèi)：專(zhuān)業(yè)名稱(chēng)：研究方向：申請(qǐng)學(xué)位級(jí)別：論文答辯日期：學(xué)位授予單位：樊玉華李文教授工學(xué)控制理論與控制工程智能控制碩士2007年12月20日大連交通大學(xué)大連交通人學(xué)17碩十學(xué)位論文AbstractFract

2、ionalcalculusincludes療actionalderivativesandfractionalintegralsItmeanstogeneralizethedifferentiationandintegrationintofractionalandcomplexorderIthasahistoryofmorethan300yearsRecentlywitlltherapiddevelopmentofcomputerscie

3、nceandtheincreasingabilityofcalculationtherealizationoffractionalcalculusbecomesfeasibleandfractionalcalculusWasnoticedandresearchedbymoreandmoreengineersItiSanewresearchdirectionforfractionalcalculustobeusedinthecontrol

4、fieldandithasalsobecomearesearchhotspotgraduallyAlmosteveryoneofphysicalsystemsduetovariousreasonoftheinnerpartandexteriorwhichiSstillinfluencedbytheplantparametervariationsandexternaldisturbancesTheseuncertaintiesexiste

5、ncewillcauseseriousinfectionstothesystemInorderteducetheinfluencecausedbytheuncertaintiesfactorsandassurancethetrackingperformanceandtherestraintdisturbanceperformancetheimprovedrobusttwodegreeoffreedomcontrolstructure(T

6、FOD卜fractionalorderdisturbanceobserver(FODOB)isadoptedtorejectthedisturbancessuchasthefrictionthemodeluncertaintiesandthemeasuringnoisefortheimprovementofthedisturbancesuppressionandrobustnessperformanceThemainresearchwo

7、rkofthisdissertationiSgivenasfollows：(1)Systematicallysummarizesthefundamentaltheoriesoffractionalcalculus，introducingseveraldefiniensandtheconversionbetweeneachother(2)IntroducingTFODanddesignmethodsofthetraditionalinte

8、gerorderDOB(3)TherationalfunctiondiscreteapproximatemethodsofFOQfileraredetailedstudied，givingthecomparedresultofdifferentmethods，adoptingtheimprovedAlAlaouiCFEmethodgivingthebestapproximationeffect；basingontheOustaloupa

9、rithmetic，wededucedandvalidatedthechoseofthefilter’Sapproximateorder(4)Chosethetorsionalexperimentsystem，adoptingFODOBtovalidateitsactionsontherestrainofthevibrationanddisturbanceTheresultsindicatethatFODOBCansatisfyther

10、equirementofrapidity，robuststabilityanddisturbancesuppressionbetterthanPIcontrollerInconclusionthemaininnovativepointsofthedissertationareasfollows：(1)AnalyzeandvalidatethechoiceofFOQfilter’SapproximationorderbasedontheO

11、ustaloupcurvefittingapproximationmethod(2)Chosethe2inertiatorsionalexperimentsystemasanexample，usingFOcalculustodesignFODOB，solvingtheproblemofrobuststabilityanddisturbancesuppressionbetterKeyWords：FractionalCalculus；Rat