新型增益调度变结构控制器的性能比较研究

为了提高变结构控制系统的控制效率,从节省控制能耗,消除颤振,快速进入滑动模态,获取稳定滑动模态等基本要求出发,将变结构控制器设计成具有增益调度控制器参数的增益调度变结构控制器,并提出了增益调度变结构控制器的设计方法.通过选择不同的调度变量,调度变量函数以及调度变量的变化范围,给出6种不同的增益调度变结构控制器,并进行了仿真研究,以比较其控制性能.

     

一种新型的滑模变结构增益调度控制器设计方法

研究影响一般滑动模态变结构控制性能的因素,并给出了根据切换函数选择滑动模态系数、边界层厚度以及控制器增益系数的一般要求．针对一类含参数不确定性的非线性系统,采用新型增益调度变结构控制策略进行控制,以切换函数作为调度变量对滑动模态系数、边界层厚度以及控制器增益系数进行调度,以提高滑动模态变结构控制系统的控制性能,抑制颤振,降低控制能耗．仿真算例验证了所提出控制策略的有效性．     

挠性结构一种频域形式的滑动模态控制器设计

本文提出了通过两个步骤减小滑动模态变结构控制在挠性结构应用中的抖动问题的两个措施：减小控制器输出切换的频率和幅度；通过频率形式的最优滑动模态切换面设计使在不同频率上运动具有不同的闭环衰减增益，达到抑制高频模态振动的目的。理论分析和仿真结果说明了该方法的有效性和系统性。     

航空发动机变结构全局快速Terminal滑动模态控制方法研究

针对航空发动机这个具有时变不确定性的非线性系统,提出了一种新型变结构全局快速最终滑动模态控制(Variable Structure Global Fast Terminal Sliding Mode Control)的航空发动机控制方法;通过对利用VSGFTSMC理论设计航空发动机最终滑动模态控制器的方法进行了深入研究,设计了航空发动机变结构全局快速滑动模态控制器;仿真结果表明,所设计的控制器的控制效果良好,对外界干扰有很强的抑制能力,使被控系统在整个控制阶段都具有较强的鲁棒性.     

一种新的基于AVSC与模糊局部控制器网络的增益调度控制器

提出一种基于ＡＶＳＣ（近似变结构控制）及ＦＬＣＮ（模糊局部控制器网络）的鲁棒增益调度设计方法,利用ＡＶＳＣ,对于一般的工作点选择合适的滑动模及其趋近率,得到局部鲁棒ＡＶＳＣ控制律,使局部系统忙进入滑动模,并具期望的性能,同时能够克服一般ＶＳＣ（变结构控制）的控制信号抖动现象,当然,任意一个局部控制 般只能天其相应工作点附近的工作性能,为此,引入了模糊控制技术的隶属函数,将它当作增益调度控制器的有效     

不确定非线性系统的变结构鲁棒控制

本文利用几何方法研究了一类非线性系统的变结构控制问题,提出了具有不确定模态非 线性系统的滑动模态控制器设计方法,并用简单算例说明了该设计方法的可行性.     

滞后抛物型控制系统的变结构控制

讨论了滞后抛物型控制系统的变结构控制问题。通过对系统进行直接分析,给出了仅由状态函数描述的变结构控制器的设计方法。所得结果削弱了文献[7,10]中对系统的某些要求,减化了变结构控制器的设计步骤,并且给出了整个切换面为滑动模态区的条件以及轨线到达滑动模态区上的时间估计。     

基于回路成形的鲁棒增益调度控制器设计

针对目前基于线性变参数系统的增益调度控制设计中存在的控制结构复杂性问题，提出一种基于回路成形的简单且易实现的增益调度控制结构.在此基础上，提出一个鲁棒增益调度控制设计方法.设计过程首先采用补偿器函数使得被控对象奇异值具有期望的形状，以保证被控对象的性能要求，然后利用小增益定理设计一个鲁棒控制器，得到具有良好性能的、结构简单的鲁棒增益调度控制器.最后针对一个化工过程，说明此方法的有效性.     

磁悬浮储能飞轮线性变参数鲁棒增益调度控制

针对强陀螺效应的磁悬浮储能飞轮转速快变引起的模型变化而带来的控制问题,设计了线性变参数增益调度鲁棒控制器.根据飞轮的线性变参数模型,设计的鲁棒增益调度控制器,能够保证其全转速范围内的鲁棒稳定性和性能.为降低控制器设计的保守性,在设计控制器时,可缩小转速区间,使控制性能得到提高.与按照非时变模型设计的鲁棒控制器相比,线性变参数鲁棒增益调度控制器可以实现以转速为参数的自适应调节,在全转速范围内,其鲁棒稳定性和性能均具有显著优势.仿真结果验证了此控制器的有效性和先进性.     

一种基于系统不确定和干扰有界的准滑模控制

针对一类非线性系统,基于系统不确定性和干扰均有界的条件下,研究了采用饱和函数的边界层准滑模变结构控制器的设计,边界层外采用常规滑模控制,边界层内采用线性化反馈,并论证了滑动模态的存在和到达条件.最后通过仿真实例证明了所设计的准滑模变结构控制器的有效性,并能削弱一定的抖振.     

大型空间飞行器的高阶滑模姿态控制律设计

针对大型空间飞行器的大角度姿态控制问题,考虑航天器惯量矩阵中的不确定性和外部扰动力矩,应用高阶滑模控制方法设计了姿态跟踪控制律.采用的二阶滑模控制方法改善了系统针对不确定性及外部扰动的鲁棒性,并减弱了振颤现象.针对所设计的控制器进行了仿真验证,并与一阶滑模控制进行了对比,仿真结果表明了所提出方法的有效性.     

Survey of gain-scheduling analysis and design

The gain-scheduling approach is perhaps one of the most popular non-linear control design approaches which has been widely and successfully applied in fields ranging from aerospace to process control. Despite the wide application of gainscheduling controllers and a diverse academic literature relating to gain-scheduling extending back nearly thirty years, there is a notable lack of a formal review of the literature. Moreover, whilst much of the classical gain-scheduling theory originates from the 1960s, there has recently been a considerable increase in interest in gain-scheduling in the literature with many new results obtained. An extended review of the gain-scheduling literature therefore seems both timely and appropriate. The scope of this paper includes the main theoretical results and design procedures relating to continuous gain-scheduling (in the sense of decomposition of non-linear design into linear sub-problems) control with the aim of providing both a critical overview and a useful entry point into the relevant literature.     

主动滑模控制时滞时空混沌星形网络的函数投影同步

研究了拓扑等价的多个时空混沌系统组成的星形网络,提出了一种主动滑模控制时滞时空混沌星形网络的函数投影同步控制方法,实现了多个时空混沌系统的同步.在结合主动控制和滑模控制方法的基础上,设计了主动滑模控制器的结构,得到了网络函数投影同步的必要条件.以Gray—Scott时空系统作为网络节点构成的星形网络为例进行了仿真模拟.结果验证了主动滑模控制器的有效性.     

Sliding mode control design based on Ackermann's formula

The sliding mode control methods are developed to design systems which have the desired dynamic behavior and are robust with respect to perturbations. It is shown that the discontinuity plane for sliding mode control may be found in an explicit form using Ackermann's formula. Two design procedures are derived. First, static controllers are designed to enforce sliding modes with the desired dynamic properties after a finite-time interval. Then, dynamic controllers are designed that exhibit the desired dynamic properties during the entire control process     

Risk assessment in control of fractional-order coronary artery system in the presence of external disturbance with different proposed controllers

In this study, different controllers for control of fractional-order coronary artery system in the presence of external disturbance are designed. Using sliding mode, the proposed type 1 and type 2 fuzzy methods, the suitable controllers are proposed. In sliding mode control, a fractional sliding surface is presented and the control signal is modified to prevent chattering in the control system. With mathematical analysis, a type of membership function is suggested which has better performance in the fractional order system. Also, a rule-base is presented which leads to better results in type 1 and type 2 fuzzy controllers. The risk of the proposed controllers in different conditions is analyzed. Finally, according to the other analyzing methods, it is shown that this analyzing method has more accurate results.     

Static and dynamic sliding mode control of variable reluctance motors

In this paper, static and a dynamic sliding mode control schemes are proposed for the speed control of a variable reluctance motor (VRM). The proposed controllers guarantee the asymptotic regulation of the speed of the motor to its desired value. Simulation results of the proposed controllers are given to illustrate the developed theory. In addition, the robustness of the proposed sliding mode controllers to changes in the parameters of the motor and to load disturbances is validated through simulation studies.     

Sliding mode control for uncertain nonlinear systems with multiple inputs containing sector nonlinearities and deadzones.

In this paper, we investigate a novel robust control approach for a class of uncertain nonlinear systems with multiple inputs containing sector nonlinearities and deadzones. Sliding mode control (SMC) is suggested to design stabilizing controllers for these uncertain nonlinear systems. The controllers guarantee the global reaching condition of the sliding mode in these systems. They can work effectively for systems either with or without sector nonlinearities and deadzones in the inputs. Moreover, the controllers ensure that the system trajectories globally exponentially converge to the sliding mode. Illustrative examples are demonstrated to verify the effectiveness of the proposed sliding mode controller.     

二维桥式起重机的滑模控制

基于滑模控制理论,研究二维桥式起重机的控制器设计问题.首先,考虑小车端受到外界干扰的情况以及利用一些等价变换,得到一个四阶桥式起重机动力学模型;然后,根据得到的动力学方程,分别设计一种比例微分滑模控制器和一种比例微分积分滑模控制器,进而通过构造李雅普诺夫函数的方法证明两种控制器下滑模面的可达性和系统的稳定性;最后,设计1组对比仿真实验和1组在自制的桥式起重机实验平台上的验证性实验.实验结果表明,所设计的两种滑模控制器均可以使桥式起重机达到给定的控制目标.     

A survey of applications of second-order sliding mode control to mechanical systems

The effective application of sliding mode control to mechanical systems is not straightforward because of the sensitivity of these systems to chattering. Higher-order sliding modes can counteract this phenomenon by confining the switching control to the higher derivatives of the mechanical control variable, so that the latter results are continuous. Generally, this approach requires the availability of a number of time derivatives of the sliding variable, and, in the presence of noise, this requirement could be a practical limitation. A class of second-order sliding mode controllers, guaranteeing finite-time convergence for systems with relative degree two between the sliding variable and the switching control, could be helpful both in reducing the number of differentiator stages in the controller and in dealing with unmodelled actuator dynamics. In this paper different second-order sliding mode controllers, previously presented in the literature, are shown to belong to the above cited class, and some challenging control problems involving mechanical systems are addressed and solved. Simulations and experimental results are provided throughout the paper.