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设计控制系统时,为使系统具有良好的性能,常采用线性二次型全状态反馈的设计方法。这种方法需选择加权阵 Q,R,然后通过求解代数 Riccati 方程获得最优反馈增益阵。大多实际系统都存在有物理约束,使得反馈系数只能在一定范围内选取,这样就给选择又 Q,R,带来了困难。如何选择 Q,R 使所解得的最优反馈系数在物理约束允许范围内?在实际设计时,常采用试凑加权阵 Q R,的方法。这种方法需一定的工作经验,计算
When designing the control system, in order to make the system have good performance, it is often used linear quadratic state feedback design. This method needs to choose the weight matrix Q, R, and then obtain the optimal feedback gain matrix by solving the algebraic Riccati equation. Most physical systems have physical constraints, so that the feedback coefficient can only be selected within a certain range, thus giving choices and Q, R, bringing difficulties. How to choose Q, R so that the optimal feedback coefficient obtained within the scope of physical constraints allowed? In the actual design, often using trial weighting matrix QR, method. This method requires some work experience, calculation