提升性能的多控制器切换控制

发布时间：2019-05-21 08:29

【摘要】：本文主要研究几种提升系统性能的多控制器切换规则。相对于单一控制器而言,多个控制器切换控制为设计者提供了更多的自由度,从而可能获得单一控制所不可能达到的控制效果。如广为应用的变结构控制,多模型自适应控制等方法都是通过多个控制器的切换提高了系统的抗扰动能力和动态性能。多控制器切换使得整个闭环系统成为一个切换系统,可以应用切换系统理论加以分析和论证。近10年来,切换系统理论迅速发展,形成了较系统的理论体系,主要利用类Lyapunov函数法进行分析和设计。大量结果表明,通过切换信号和控制器的双重设计,可以获得非切换系统所不具有的优良性能。本文研究为切换对象-跳变负载机械臂和非切换对象-双容水槽分别设计多个控制器和切换律,以提升系统的性能。主要工作如下:(1)采用切换系统描述参数跳变机械臂,在负载变化可测时,即切换信号可用的情况下,基于平均驻留时间方法为机械臂设计切换滑模控制器。(2)在负载变化不可检测,即切换信号不可用的情况下,为切换机械臂模型设计子控制器及控制器的选择机制。通过设计监督变量来为候选控制器构建切换逻辑,当负载变化足够慢时,实现了渐近跟踪。(3)基于物质量观点为双容水槽设计快速无超调切换控制器。首先,由水槽的稳态工作点得到其平衡流形。然后,设计工作点迁移控制器、工作点保持控制器以及两个控制器的切换律从而得到液位的无超调切换控制器。
[Abstract]:In this paper, several multi-controller switching rules to improve the performance of the system are studied. Compared with a single controller, multiple controller switching control provides designers with more degrees of freedom, so that the control effect that a single control can not achieve may be obtained. For example, the widely used variable structure control and multi-model adaptive control methods improve the disturbance rejection and dynamic performance of the system through the switching of multiple controllers. Multi-controller switching makes the whole closed-loop system a switching system, which can be analyzed and demonstrated by switching system theory. In recent 10 years, the theory of switching system has developed rapidly, and a more systematic theoretical system has been formed, which is mainly analyzed and designed by Lyapunov-like function method. A large number of results show that the excellent performance of the non-switching system can be obtained by the dual design of the switching signal and the controller. In this paper, multiple controllers and switching laws are designed for switching object-jump load manipulator and non-switching object-double tank respectively to improve the performance of the system. The main work is as follows: (1) the switching system is used to describe the parameter jump manipulator, when the load change is measured, that is, when the switching signal is available, Based on the average residence time method, a switching sliding mode controller is designed for the manipulator. (2) when the load change is not detected, that is, the switching signal is not available, the sub-controller and the selection mechanism of the controller are designed for the switched manipulator model. The switching logic is constructed for the candidate controller by designing supervision variables. When the load change is slow enough, the asymptotic tracking is realized. (3) based on the material quality point of view, a fast non-overshoot switching controller is designed for the double tank. Firstly, the equilibrium manifolds of the flume are obtained from the steady-state working point of the flume. Then, the working point migration controller, the working point holding controller and the switching law of the two controllers are designed to obtain the liquid level non-overshoot switching controller.
【学位授予单位】：河北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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