具有饱和执行器系统的控制方法研究

发布时间：2018-03-21 17:44

本文选题：执行器饱和　切入点：控制方法　出处：《沈阳师范大学》2016年硕士论文　论文类型：学位论文

【摘要】：在实际工程的设计和人们的生活中存在很多参数,大多数参数都存在上下界限制,即参数达到一定界限时,系统出现饱和现象。饱和非线性的存在通常会破坏控制系统的稳定性及其性能,有时甚至会造成严重后果。因此,研究此类问题具有深远的实际意义和理论价值,近些年备受学者关注。目前国内外对此类问题的研究已日趋完善,本文在前人的基础上一进步研究饱和问题中执行器饱和系统的控制方法,主要针对混杂控制、变结构控制、可靠控制进行研究,研究涉及到稳定性的分析、吸引域的估计及控制器的设计等内容。本文主要做了以下几点工作:1.介绍了选题的背景及意义、执行器饱和系统、混杂控制、变结构控制、可靠控制的国内外发展概况。通过介绍所需的基本知识,其中包括基本概念、线性矩阵不等式、Lyapunov稳定性理论以及一些重要引理为后文做理论准备。2.主要针对执行器饱和系统的混杂控制问题,首先考虑了具有执行器饱和不确定性系统的稳定性,使用混杂控制的方法证明系统的稳定性的同时给出了系统稳定的一个充分条件。提出了系统吸引域的一种估计方法。最后,给出了仿真算例,验证了结论的可行性和有效性。3.主要针对饱和系统的变结构控制问题,引进了变结构控制器。利用Lyapunov稳定性理论,给出了系统稳定性的充分条件。提出了系统吸引域的一种估计方法。最后,运用Matlab工具箱,对给出的仿真算例进行求解,验证了结论的可行性和有效性。4.主要针对一类具有饱和执行器的连续时滞系统的可靠控制问题,利用Lyapunov稳定性理论,提出了一种可靠控制器的设计方法,使得在任意一个传感器失效后,系统仍能达到稳定状态。最后,给出了全文的总结,并作出对该课题的展望。
[Abstract]:There are many parameters in the design of practical projects and people's lives, most of which are limited by upper and lower bounds, that is, when the parameters reach a certain limit, Saturation occurs in systems. The existence of saturation nonlinearity usually destroys the stability and performance of control systems, and sometimes results in serious consequences. Therefore, the study of such problems has profound practical significance and theoretical value. In recent years, scholars have paid close attention to this kind of problem. At present, the research of this kind of problem has become more and more perfect at home and abroad. In this paper, the control method of actuator saturation system in saturation problem is studied on the basis of predecessors' progress, mainly aiming at hybrid control and variable structure control. The research of reliable control involves the analysis of stability, the estimation of attraction domain and the design of controller. In this paper, we mainly do the following work: 1. Introduce the background and significance of the selected topic, actuator saturation system, hybrid control, etc. The development of variable structure control, reliable control at home and abroad. Through the introduction of the basic knowledge, including basic concepts, The Lyapunov stability theory and some important Lemma are used to prepare the following theories. 2. For the hybrid control problem of actuator saturation system, the stability of the system with actuator saturation uncertainty is first considered. The stability of the system is proved by the hybrid control method and a sufficient condition for the stability of the system is given. A method for estimating the region of attraction of the system is proposed. Finally, a simulation example is given. The feasibility and validity of the conclusion are verified. 3. The variable structure controller is introduced to solve the variable structure control problem of saturated system, and the Lyapunov stability theory is used. The sufficient conditions for the stability of the system are given, and a method for estimating the region of attraction of the system is proposed. Finally, the simulation example is solved by using the Matlab toolbox. The feasibility and validity of the conclusion are verified. 4. Aiming at the problem of reliable control for a class of continuous time-delay systems with saturated actuators, a design method of reliable controller is proposed by using Lyapunov stability theory. After any sensor failure, the system can still reach a stable state. Finally, a summary of the full text is given, and the prospect of the subject is given.
【学位授予单位】：沈阳师范大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：O231

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