输入饱和系统输出调节问题的组合非线性反馈控制及应用

发布时间：2018-02-12 23:52

本文关键词： 组合非线性反馈 CE150直升机模型输入饱和输出调节多输入多输出　出处：《南昌航空大学》2017年硕士论文　论文类型：学位论文

【摘要】：输出调节问题是现代控制理论中的重要研究课题之一,随着输出调节问题在工程实际中应用越来越广,被控系统的复杂度和多样性成为了不可避免的问题。由于被控系统的结构复杂,如何设计良好性能的控制器不仅是一个关键点,也是一个难点。因此,输出调节问题也成为现代控制理论中一个具有挑战性的研究领域。本论文通过研究三类不同的被控系统的输出调节问题来阐述几类输出调节控制器的设计。第一类是具有输入饱和的线性系统基于组合非线性反馈控制的输出调节问题;第二类是具有输入饱和的多输入多输出系统基于组合非线性反馈控制的输出调节问题;第三类是具有输入饱和的离散化多输入多输出系统基于组合非线性反馈控制的输出调节问题。具体的研究工作如下:第一,研究了截止到目前的输出调节问题的相关文献和组合非线性反馈控制的理论成果,输入饱和是输出调节问题在应用到实际系统时常见的问题。本文给出了基于组合非线性反馈控制的输入饱和控制器设计方法,使闭环系统同时具备良好的稳态性能和瞬态性能。第二,复杂系统通常具有高阶多输入多输出的特点,会影响跟踪控制器的设计和性能。本文通过组合非线性反馈控制律中线性部分保证响应前期的跟踪速度,非线性部分消除由线性部分引起的超调量,实现对输入饱和的高阶多输入多输出线性系统的跟踪控制。第三,已有的组合非线性反馈设计方法主要针对的都是给定参考点和连续信号的轨迹跟踪,对于离散系统中信号的跟踪还没有深入研究,尤其是具有高阶多输入多输出特性的复杂离散系统的控制器设计。本文给出了离散组合非线性反馈控制器和相应降阶观测器的设计方法,在离散时间域上实现系统的跟踪定位。第四,应用输入饱和高阶多变量组合非线性反馈控制设计方法针对带有输入饱和的直升机模型进行控制器设计和输出调节。为了能够跟踪参考信号,构建了一个状态扰动观测器和一个组合非线性反馈控制器。为了研究控制器的性能,分别在无外部干扰和有外部干扰两种情况下设计了控制器。所有的仿真结果表明复合非线性反馈控制器是有效的,它证明组合非线性反馈控制方法能够明显地改善系统的瞬态性能。
[Abstract]:The output regulation problem is one of the important research topics in modern control theory. With the increasing application of output regulation problem in engineering practice, The complexity and diversity of the controlled system become an inevitable problem. Because the structure of the controlled system is complex, how to design a controller with good performance is not only a key point, but also a difficulty. The output regulation problem has become a challenging research field in modern control theory. This paper discusses the design of several kinds of output control controllers by studying the output regulation problems of three kinds of different controlled systems. Class is an output regulation problem for linear systems with input saturation based on combinatorial nonlinear feedback control. The second kind is the output regulation problem of multi-input multi-output systems with input saturation based on combinatorial nonlinear feedback control. The third is the output regulation problem of discrete multi-input multiple-output systems with input saturation based on combinatorial nonlinear feedback control. The research work is as follows: first, The related literature on output regulation problem up to now and the theoretical results of combinatorial nonlinear feedback control are studied. Input saturation is a common problem in the application of output regulation to practical systems. In this paper, a design method of input saturation controller based on combinatorial nonlinear feedback control is presented. The closed-loop system has good steady-state performance and transient performance at the same time. Second, complex systems usually have the characteristics of high-order multi-input and multi-output. In this paper, the linear part of the combined nonlinear feedback control law guarantees the tracking speed in the early response, and the nonlinear part eliminates the overshoot caused by the linear part. The tracking control of high-order multi-input multiple-output linear systems with input saturation is realized. Thirdly, the existing design methods of combinatorial nonlinear feedback are mainly aimed at tracking the trajectory of given reference points and continuous signals. The tracking of signals in discrete systems has not been studied in depth. In particular, the controller design of a complex discrete system with high order multi-input and multi-output characteristics is presented. The design method of discrete combinatorial nonlinear feedback controller and corresponding reduced order observer is presented in this paper. System tracking and positioning in discrete time domain. 4th, The controller design and output regulation of helicopter model with input saturation are carried out by using the input saturation high order multivariable combined nonlinear feedback control method. In order to track the reference signal, A state disturbance observer and a combined nonlinear feedback controller are constructed. The controller is designed without external interference and with external disturbance respectively. All the simulation results show that the composite nonlinear feedback controller is effective. It is proved that the combined nonlinear feedback control method can obviously improve the transient performance of the system.
【学位授予单位】：南昌航空大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP13

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