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This paper presents a decoupling multivariable generalized self-tuning controller which combines the optimal strategy of self-tuning control with the classical control strategy of pole-zero placement and realizes the adaptive decoupling control.The techniques of updating weighting polynomial matrices of the cost function on line and eliminating the steady-state errors without an integrator are proposed.The controller proposed is applied to control the multivariable electric-heated furnace.The results show that... This paper presents a decoupling multivariable generalized self-tuning controller which combines the optimal strategy of self-tuning control with the classical control strategy of pole-zero placement and realizes the adaptive decoupling control.The techniques of updating weighting polynomial matrices of the cost function on line and eliminating the steady-state errors without an integrator are proposed.The controller proposed is applied to control the multivariable electric-heated furnace.The results show that the performance of the presented controller is better than that of Koivo's controller. 本文将自校正控制的最优控制策略同零极点配置的经典控制策略结合起来,提出了多变量广义自校正解耦控制器,实现了自适应解耦控制。提出了在线校正加权阵和不加积分作用消除稳态误差的新方法,并将该控制器应用于多变量电加热炉,实时控制结果表明本文提出的控制器的性能优于Koivo的自校正控制器的性能。 In this paper,a simple multivariable decoupling pole assignment self-tuning con-troller has been presented.It is not only possible to realize adaptive decoupling con-trol,but also avoids solving polynomial matrix equations and treating inverse matrices.This adaptive controller is also applied to control the nonminimum phase double-input-double-output electric furnace successfully. 本文提出了一种简单的多变量极点配置自校正解耦控制器。该控制器不仅避免了在线求解矩阵方程和矩阵求逆运算而且实现了自适应解耦控制。该自适应控制器已被成功地应用来控制双输入双输出非最小相位的电加热炉。 In this paper,a self-tuning decoupling controller for a class of multivariablesystems is presented and its convergence is discussed.This controller can not onlyrealize decopling control of multivariable system,but also optimize quadratic perform-ance index and assign closed-loop poles of decoupled systems.Digital simulation andhybrid simulation results illustrate its good performance. 本文对一类多变量系统给出了一种广义最小方差自校正解耦控制器,并讨论了它的收敛性.这种自校正控制器不仅能实现解耦控制,还可使解耦系统实现二次型性能指标最优和实现极点配置.数字仿真与混合仿真结果表明这种控制器性能良好。
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