共查询到17条相似文献,搜索用时 109 毫秒
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提出了降阶时滞观测器, 利用时滞来观测系统的不确定性和受到的外部干扰, 实现了不确定系统的鲁棒控制. 降阶时滞观测器控制系统中参考模型的阶数由系统的相对阶数决定, 而与系统阶数无关, 简化了控制器的设计, 有利于根据性能指标的要求获得合适的参考模型. 对于相对阶低于系统阶的一般对象, 通过引入低通滤波器也能实现降阶时滞滤波器控制. 大量的仿真结果表明, 降阶时滞观测器能够很好地抑制系统的不确定性和受到的外部干扰, 是一种性能优良的鲁棒控制方法. 相似文献
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合理利用时滞可能获得意想不到的性能.研究表明,系统的不确定性以及受到的外部
干扰可以利用时滞观测器来进行观测,从而实现系统的鲁棒控制.本文提出了一种低通滤波时
滞观测器.避免了常规时滞观测器控制中出现的控制信号颤振,得到了一种结构新颖的控制器.
仿真结果表明时滞观测器控制系统可以很好地抑制系统的不确定性以及受到的外部干扰,是一
种性能优良的鲁棒控制方法. 相似文献
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研究控制项含有时滞的线性系统的预测控制问题.利用被控对象的预测输出向量和系统的控制向量,设计了一种降维状态预测观测器,并将该状态观测器用于时滞控制系统的最优状态反馈控制中.利用该状态预测观测器可将闭环系统的时滞项移至系统闭环结构之外,从而最优控制规律完全可以按无时滞系统进行设计.由性能指标计算公式表明,该预测控制器关于二次型性能指标是次优的. 相似文献
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针对一类状态未知的非线性严格反馈时滞系统, 本文提出了一种基于静态增益函数的输出反馈控制方案.
首先构造了降阶观测器以估计非线性系统的未知状态. 然后在Backstepping设计的每一步定义了具有控制增益函数
的新型Lyapunov-Krasovskii泛函以补偿未知时变时滞, 定义新的选择不唯一的连续控制增益函数以补偿非匹配项
以及Lyapunov-Krasovskii泛函补偿时滞时产生的非负项. 提出了一种无记忆输出反馈控制方案. 理论分析表明: 该
控制方案消除了未知时滞的影响, 保证了闭环系统所有信号的有界性, 并使系统实现渐近稳定. 最后仿真结果验证
了此控制方案的有效性. 相似文献
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实用自抗扰控制在大时滞厚度自动监控系统中的应用 总被引:3,自引:1,他引:2
针对热连轧监控AGC(自动厚度控制)大时滞系统具有不确定和干扰因素多等特点, 采用线性降阶模型及参数优化设计, 提出一种实用自抗扰控制(ADRC)控制方案, 以满足简单、实用、好调、节能等工业界的要求. 通过对被控对象和状态观测器的降阶, 使得系统总扰动(内部不确定性、外部扰动) 的实时估计由一个仅为一阶的扩张状态观测器就可实现. 为了把所设计的实用ADRC与常规ADRC、常规Smith预估器和PID控制器进行公平比较, 各控制器的最佳参数均采用变尺度混沌优化方法得到. 仿真结果表明, 两种ADRC的抗扰性和鲁棒性优于常规的Smith预估器和PID控制器. 与常规ADRC相比, 实用ADRC的可调参数大大减少, 能耗指标也明显降低, 为下一步的工程实现提供了途径. 相似文献
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A novel discrete‐time repetitive controller design for time‐delay systems subject to a periodic reference and exogenous periodic disturbances is presented. The main idea behind the proposed approach is to take advantage of the plant delay in the controller design, and not to compensate for the effect of this delay. To facilitate this concept, we introduce an appropriate time‐delay and a compensator in a positive feedback connection with the plant, such that a generator for periodic signals is constructed. Then a proportional controller is used to stabilize the closed‐loop system. The tracking control capability is thus guaranteed according to the internal model principle (IMP). In addition, to attenuate external periodic disturbances, a disturbance observer (DO) is developed to simultaneously achieve reference tracking and disturbance rejection. The possible fractional delay due to the digital discretization is handled by using a fractional delay filter approximation. The proposed controller has a simple structure, in which only a proportional parameter and a low‐pass filter are required to be chosen. The closed‐loop stability conditions and a robustness analysis under model uncertainties are studied. Numerical simulations and practical experiments on a servo motor system are conducted to verify the feasibility and simplicity of the proposed controller. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
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Vincent Léchappé Jesús De Léon Emmanuel Moulay Franck Plestan Alain Glumineau 《国际强度与非线性控制杂志
》2018,28(6):2356-2368
》2018,28(6):2356-2368
This paper deals with the problem of state and delay estimation for SISO nonlinear systems with an unknown time‐varying delay in the input. The main idea is to approximate the delayed input by using Taylor's theorem and to create an extended system with the delay as part of the extended state. Then, the construction of an observer is proposed to estimate both state and delay. The results are illustrated by simulations. 相似文献
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This paper presents a kind of state observer for a velocity-sensorless vertical take-off and landing (VTOL) aircraft with bounded time-varying delay in its measurement outputs. The proposed observer predicts current state variables based on the delayed outputs, and the estimated state variables can be considered as the actual state variables for feedback control scheme design. Since the delay is time-varying, compared to the constant delay case, different analysis theory must be employed. Under the assumption that the delays are identical for different outputs and bounded input, the asymptotic convergence property of the estimation error based on Lyapunov–Razumikhin theorem is proved. A relative large time delay for the VTOL aircraft in the outputs has been tested in the numerical simulation, and the simulation results show the effectiveness of the proposed observer. 相似文献
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永磁同步电动机新型滑模观测器无传感器控制 总被引:2,自引:0,他引:2
由于传统滑模观测器算法存在固有抖振, 根据永磁同步电动机的数学模型, 设计了一种新的滑动模态观测器转子位置自检测控制算法; 切换函数采用饱和函数代替开关函数; 选择合适的边界层厚度以削弱抖振; 将反电动势估算值反馈到定子电流的观测计算中, 通过选择合适的反馈值来提高低速时转子位置角的估算精度和高速时系统的稳定性. 为了简化驱动系统的硬件结构以提高滤波效果, 设计了一个截止频率可随转子转速变化的低通滤波器对延迟进行补偿. 以1台表面式永磁同步电动机为对象进行实验, 实验结果表明, 这种新型滑模观测器对电机参 相似文献