超空泡航行体LPV鲁棒变增益控制

发布时间：2018-03-19 06:05

本文选题：超空泡航行体　切入点：松弛变量　出处：《华中科技大学学报(自然科学版)》2017年07期 　论文类型：期刊论文

【摘要】：针对超空泡航行体动力学模型存在强非线性及耦合等特点,提出一种基于松弛变量的线性参数变化(LPV)系统鲁棒变增益控制器设计方法.通过对系统中非线性滑行力进行分析变换,将非线性系统转换为含有变参数的线性参变系统,由调度策略得到其多胞形描述形式.为降低系统保守性,在多胞形各顶点设计控制器时引入松弛变量,实现系统矩阵与李雅普诺夫函数解耦,将各顶点控制器进行插值综合后得到依赖参数调节的系统全局控制器.仿真结果表明:所设计的控制器能够使系统快速准确地跟踪给定指令,同时对外界干扰具有一定的鲁棒性.
[Abstract]:In view of the strong nonlinear and coupling characteristics of the supercavitation vehicle dynamics model, This paper presents a robust variable gain controller design method for LPV-based linear parameter change system based on relaxation variables. By analyzing and transforming the nonlinear sliding force in the system, the nonlinear system is transformed into a linear parametric system with variable parameters. In order to reduce the conservatism of the system, the relaxation variable is introduced to design the controller at the vertices of the polycell, and the system matrix is decoupled from the Lyapunov function, and the system matrix is decoupled from the Lyapunov function. After interpolating and synthesizing each vertex controller, the system global controller dependent on parameter adjustment is obtained. The simulation results show that the designed controller can make the system track the given instructions quickly and accurately. At the same time, it is robust to external disturbance.
【作者单位】：哈尔滨工程大学自动化学院;中航光电科技股份有限公司;
【基金】：国家自然科学基金资助项目(51209049,51309058) 国家科学技术部国际合作基金资助项目(2014DFR10010) 黑龙江省自然科学基金资助项目(F201343) 中央高校基础科研业务费专项资金资助项目(HEUCF160421)
【分类号】：TP273;U661

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