有限频域范围迭代学习容错控制研究
发布时间：2019-06-10 22:58
【摘要】：工程系统会存在许多跟踪期望轨迹的问题,为解决此类的问题,许多的学者做了大量的研究,迭代学习控制也是其中被提出的一种解决方案。迭代学习控制适用于重复操作的工业控制过程,是智能控制领域的分支。系统在运行的时候不可避免的会发生各种故障,而故障的发生有时也会在特定的频域范围内。因此,针对特定频域的故障重复控制系统,迭代学习容错控制器是很好的一种选择,可以维持系统比较理想的性能。本文结合重复过程控制的稳定性理论,针对故障重复系统,在有限频域范围设计迭代学习容错控制器,利用线性矩阵不等式(LMI)技术分析重复系统的单调收敛条件,并且求出控制器参数。本文的研究内容如下(1)针对执行器故障线性离散重复过程,设计一种有限频率范围的迭代学习容错控制器。以LMI形式分别给出基于Kalman Yakubovich Popov(KYP)引理的全频、分频区域重复控制系统稳定的充分条件,同时保证了故障系统在时域和频域范围内的容错性能,重复注塑过程的注射速度控制仿真验证了分频控制算法的有效性。(2)对于执行器故障离散重复过程的系统稳定问题,设计一种有限频率范围的动态迭代学习容错控制算法。定义故障系数矩阵,输出跟踪系统以及动态迭代学习控制律,然后给出等价重复过程模型,沿故障系统的时间轴以及批次轴设计动态迭代学习被动容错控制器,基于KYP引理,给出系统稳定的充分条件,多轴桁架式机器人控制仿真验证了频域控制算法的有效性。(3)研究一类具有执行器故障以及状态时滞的线性离散系统的迭代学习容错控制问题。设计一种有限频域的迭代学习容错控制算法,借助于KYP引理,得出重复控制系统稳定的充分条件,保证故障系统在频域范围内的容错性能。重复注塑过程注塑速度过程仿真验证了设计的算法有效性和可行性。
[Abstract]:There will be many problems in the engineering system to track the desired track. in order to solve this kind of problems, many scholars have done a lot of research, and iterative learning control is also one of the solutions proposed. Iterative learning control is suitable for repeated industrial control process and is a branch of intelligent control field. It is inevitable that all kinds of faults will occur when the system is running, and the faults will sometimes occur in a specific frequency domain. Therefore, iterative learning fault-tolerant controller is a good choice for fault repetitive control systems in specific frequency domain, which can maintain the ideal performance of the system. In this paper, based on the stability theory of repetitive process control, an iterative learning fault-tolerant controller is designed for fault-repetitive systems in finite frequency domain, and the monotone convergence conditions of repetitive systems are analyzed by using linear matrix inequality (LMI) (LMI) technique. The parameters of the controller are obtained. The research contents of this paper are as follows: (1) an iterative learning fault-tolerant controller with finite frequency range is designed for linear discrete repetitive process of actuator fault. In the form of LMI, the sufficient conditions for the stability of the full frequency and frequency division region repetitive control system based on Kalman 鈮，
本文编号：2496795
[Abstract]:There will be many problems in the engineering system to track the desired track. in order to solve this kind of problems, many scholars have done a lot of research, and iterative learning control is also one of the solutions proposed. Iterative learning control is suitable for repeated industrial control process and is a branch of intelligent control field. It is inevitable that all kinds of faults will occur when the system is running, and the faults will sometimes occur in a specific frequency domain. Therefore, iterative learning fault-tolerant controller is a good choice for fault repetitive control systems in specific frequency domain, which can maintain the ideal performance of the system. In this paper, based on the stability theory of repetitive process control, an iterative learning fault-tolerant controller is designed for fault-repetitive systems in finite frequency domain, and the monotone convergence conditions of repetitive systems are analyzed by using linear matrix inequality (LMI) (LMI) technique. The parameters of the controller are obtained. The research contents of this paper are as follows: (1) an iterative learning fault-tolerant controller with finite frequency range is designed for linear discrete repetitive process of actuator fault. In the form of LMI, the sufficient conditions for the stability of the full frequency and frequency division region repetitive control system based on Kalman 鈮，
本文编号：2496795
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