输入受限系统增益调度控制及其在近空间飞行器中的应用

发布时间：2018-01-10 12:00

本文关键词：输入受限系统增益调度控制及其在近空间飞行器中的应用　出处：《哈尔滨工业大学》2016年博士论文　论文类型：学位论文

【摘要】：每个控制系统本质上都存在饱和特性。然而,许多控制理论在设计控制器时没有考虑执行器饱和非线性的约束对闭环系统的稳定性的影响,这使得所设计的控制器无法应用于工程实践。由于在设计控制器时考虑饱和非线性会增加控制器的设计难度,因此,输入受限系统具有重要的研究价值。本文通过求解参量Riccati方程,解决了输入受限系统控制器设计问题,并通过设计近空间飞行器的控制器验证了所提方法的有效性。具体工作如下:分别针对输入受限切换系统和带有参数不确定性的输入受限切换系统,提出了基于参量Lyapunov方程的控制器设计方法。在输入受限切换系统中,每个子系统平衡点是不相同的,针对该类具有饱和非线性执行器的切换系统,设计了离散增益调度状态反馈控制器。所设计的控制器通过增大代表闭环系统收敛速度的参数的值,提高了闭环系统的收敛速度,改善了闭环系统动态性能。针对参数不确定性输入受限控制系统,设计了鲁棒离散增益调度控制器。所设计的控制器可以保证执行器不发生饱和,且闭环系统是稳定的,并给出了实现系统鲁棒稳定的条件。参量Lyapunov方法可以处理开环不稳定的系统,所提控制方法可以推广到输入受限指数不稳定系统。该方法通过数值例子得以验证。针对输入受限系统研究了鲁棒控制问题。针对控制输入饱和受限情况下不确定系统,设计了鲁棒连续静态增益调度状态反馈控制器,并分析了扰动为零和不为零时系统的稳定性问题;针对具有执行器饱和与控制输入不确定性的线性系统,设计了鲁棒连续静态增益调度输出反馈控制器,解决了系统的鲁棒镇定问题。通过引入设计参数提高了闭环系统的收敛速度,仿真结果验证了方法的有效性。考虑非对称输入受限系统控制器设计问题。利用简单的变量代换,给出了对称饱和函数和非对称饱和函数之间的关系式,并研究了新系统的不变集和稳定性问题。针对非对称输入受限系统,设计了基于非对称饱和非线性的离散增益调度状态反馈控制器,给出了非对称输入受限系统估计最大不变集的方法。通过增大所设计参数的值,提高了闭环系统的收敛速度,保证了闭环系统的指数稳定。所提控制方法应用到数值例子和BTT导弹模型,仿真结果验证了方法的有效性。第五章将第二章、第三章和第四章中的部分理论成果用于近空间飞行器的控制器设计。本章结合了第二章和第四章控制器设计方法,对非对称饱和非线性切换系统设计控制器。控制方法分别应用到定常系统、切换系统、时变系统和非线性系统,所提控制方法可以保证控制信号满足约束条件。
[Abstract]:However, many control theories do not consider the effect of actuator saturation nonlinear constraints on the stability of closed-loop systems. This makes the designed controller can not be used in engineering practice. Considering the saturation nonlinearity in the design of the controller, it will increase the design difficulty of the controller. Input-constrained system has important research value. In this paper, the problem of controller design for input-constrained system is solved by solving the parameter Riccati equation. The effectiveness of the proposed method is verified by designing the controller of the near space vehicle. The main work is as follows: for the input constrained switching system and the input constrained switching system with parameter uncertainty, respectively. A controller design method based on parametric Lyapunov equation is proposed. In the input constrained switching system, the equilibrium points of each subsystem are different. A discrete gain scheduling state feedback controller is designed for this class of switched systems with saturated nonlinear actuators. The controller is designed by increasing the value of the parameters representing the convergence speed of the closed-loop system. The convergence speed of the closed-loop system is improved and the dynamic performance of the closed-loop system is improved. A robust discrete gain scheduling controller is designed, which can ensure that the actuator is not saturated and the closed-loop system is stable. The condition of robust stability of the system is given. The parametric Lyapunov method can deal with the open loop unstable system. The proposed control method can be extended to input-constrained exponential unstable systems. The method is verified by numerical examples. The robust control problem for input-constrained systems is studied. Fixed system. The robust static gain scheduling state feedback controller is designed, and the stability of the system with zero disturbance and no 00:00 disturbance is analyzed. A robust continuous static gain scheduling output feedback controller is designed for linear systems with actuator saturation and control input uncertainty. The robust stabilization problem of the system is solved, and the convergence rate of the closed-loop system is improved by introducing the design parameters. The simulation results show the effectiveness of the method. Considering the problem of controller design for asymmetric input constrained systems, the relationship between symmetric saturation function and asymmetric saturation function is given by using simple variable substitution. The invariant set and stability of the new system are studied. A discrete gain scheduling state feedback controller based on asymmetric saturation nonlinearity is designed for asymmetric input constrained systems. A method for estimating the maximum invariant set of asymmetric input constrained systems is presented. By increasing the value of the designed parameters, the convergence rate of the closed-loop system is improved. The proposed control method is applied to numerical examples and BTT missile model. The simulation results verify the effectiveness of the method. Chapter 5th will be the second chapter. Some of the theoretical results in chapter 3 and chapter 4th are used in the controller design of near space vehicle. This chapter combines the methods of controller design in chapter 2 and chapter 4th. The controller is designed for asymmetric saturation nonlinear switching system. The control method is applied to the steady system, the switched system, the time-varying system and the nonlinear system, respectively. The proposed control method can ensure that the control signal meets the constraint conditions.
【学位授予单位】：哈尔滨工业大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：V249.1

【相似文献】