LPV系统切换控制策略研究

发布时间：2018-06-18 23:25

  本文选题：切换系统 + 线性变参数　； 参考：《哈尔滨理工大学》2017年硕士论文

【摘要】：在控制领域中,随着技术的飞速发展和控制质量要求的不断提高,单纯地依赖某一个系统或某一种系统的控制方式已经无法满足控制需要,混杂系统的提出使得这一问题得以解决。而切换系统就是一种典型的混杂系统,简单而言,切换系统就是由一系列的子系统和协调这些子系统的切换逻辑组成的。在具有不同需求的区域采用不同的控制方式以求达到最优的控制效果,为了使系统运行能够稳定,控制系统的切换控制逻辑也成为了重中之重。近些年来随着线性变参数(Linear Parameter-Varying,简称LPV)系统这一非线性系统在实际生产中的广泛应用,其存在的问题也慢慢地显现出来。在LPV系统的设计中,往往由于参数范围过大使得所设计的LPV系统在参数空间内不能处处保证良好的控制效果。本文提出了一种关于线性变参数系统的切换控制方法,将调度参数的变化区间划分成多个具有重叠区域的子区间,在这些子空间内分别进行控制器的设计,而重叠部分的控制输出则由相邻的两个控制器共同决定。两个相邻的子系统在重叠区域同时运行,其运行结果经过加权函数的运算后转化为系统输出。当调度参数随着时间的变化而进入相应的子区间时,调用相应的子系统。同时为了降低所设计系统的保守性,在平均驻留时间内的切换次数也将考虑在内。本文所做的工作主要如下:首先,对于给定的参数变化区间,设计一簇子LPV系统状态反馈控制器,保证其闭环稳定且满足给定的鲁棒H∞性能指标。参数依赖的Lyapunov函数矩阵与系统的参数矩阵之间具有耦合,引入松弛矩阵进行解耦得到便于求解的矩阵形式。所得到的矩阵函数为无穷维问题,采用网格技术和近似基函数法来进行矩阵的降维和求解。用本文所设计的切换控制逻辑完成子系统之间的切换控制。然后,对于给定的参数变化区间,设计一簇子LPV系统输出反馈控制器,保证其闭环稳定且满足给定的鲁棒H∞性能指标。由于所需求解的矩阵函数都为无穷维的,同样采用网格技术和近似基函数法将求解矩阵转化为参数矩阵。构造控制器时需要求矩阵函数的导数,但调度参数的变化率并非实时可测,所以可以固定所求矩阵中的一个,使控制器矩阵中不含导数项。用本文所设计的切换控制逻辑完成子系统之间的切换控制。
[Abstract]:In the field of control, with the rapid development of technology and the continuous improvement of control quality, it is impossible to meet the control needs by relying solely on a certain system or the control mode of a certain system. The hybrid system can solve this problem. The switched system is a typical hybrid system. In short, the switched system is composed of a series of subsystems and the switching logic to coordinate these subsystems. In order to achieve the optimal control effect, the switching control logic of the control system becomes the most important in order to make the operation of the system stable. In recent years, with the wide application of linear parametric variable parameter linear Parameter-Varying (LPV-Varying) system in practical production, the existing problems have emerged. In the design of LPV system, because the parameter range is too large, the designed LPV system can not guarantee the good control effect everywhere in the parameter space. In this paper, a switching control method for linear variable parameter systems is proposed, in which the variable interval of scheduling parameters is divided into several subregions with overlapping regions, and the controllers are designed in these subspaces. The control output of the overlapped part is determined by the two adjacent controllers. The two adjacent subsystems run simultaneously in the overlapped region, and the results are transformed into the system output after the weighted function. When the scheduling parameter changes with time and enters the corresponding sub-interval, the corresponding subsystem is called. At the same time, in order to reduce the conservatism of the designed system, the handover times within the average residence time will also be taken into account. The main work of this paper is as follows: firstly, for a given parameter variation interval, a cluster of LPV state feedback controllers are designed to ensure the closed-loop stability and satisfy the given robust H 鈭，

本文编号：2037247