Neurčitostní modelování mechatronických soustav

UNCERTAIN MODELING OF MECHATRONIC SYSTEMS

článek ve sborníku ve WoS nebo Scopus

en

The paper proposes an approach to modeling of systems with a parametric uncertainty. The approach is based on use of upper linear fractional transformation which is commonly used for the modeling of the uncertain systems. The main difference between the classical methods and the proposed one is that the proposed method describes the uncertainty as a difference between values of corresponding matrices elements of nominal and perturbed state-space model of the described system. This results into a general analytic description of the uncertain model which may be easily used for building of an uncertain model based on a nominal and perturbed state-space model of any system. The obtained uncertain model respects the form for a robust controller design. The approach is presented on simple mass-damper-spring system.

Článek předkládá přístup k modelování soustav s parametrickou neurčitostí. Přístup je založen definici neurčitosti jako rozdílu hodnot stavovźch matic nominálního a perturbovaného modelu. Tímto způsobem je odvozena zcela obecná forma pro tvorbu neurčitostního modelu, která respektuje tvar pro návrh robustního regulátoru. Přístup je demonstrován na jednoduchém příkladu hmota – pružina – tlumič.

The paper proposes an approach to modeling of systems with a parametric uncertainty. The approach is based on use of upper linear fractional transformation which is commonly used for the modeling of the uncertain systems. The main difference between the classical methods and the proposed one is that the proposed method describes the uncertainty as a difference between values of corresponding matrices elements of nominal and perturbed state-space model of the described system. This results into a general analytic description of the uncertain model which may be easily used for building of an uncertain model based on a nominal and perturbed state-space model of any system. The obtained uncertain model respects the form for a robust controller design. The approach is presented on simple mass-damper-spring system.

Parametrická neurčitost, neurčitostní model, hmota – pružina – tlumič

Parametric uncertainty, uncertain model, mass-damper-spring

2011

09.05.2011

Institute of Thermomechanics - Academy of Sciences of the Czech Republic - Prague

Prague

978-80-87012-33-8

Engineering mechanics 2011

1

67–70

4