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21.
22.
The Planer vertical take-off and landing (PVTOL) aircraft is a typical example of an underactuated mechanical system and has
a nonminimum-phase nature. When considering output tracking control, the Input/Output (I/O) linearization method is not appropriate
since the stability of the internal dynamics is not guaranteed. Hauser et al. regarded this system as a slightly nonminimum-phase
system which approximates to a minimum-phase one. Their control scheme yielded good results when the coupling factor was small,
but the results were not acceptable when the coupling factor increased. In this article, we propose two approaches to improve
the control performance. First, we consider the approximation error of Hauser's scheme as uncertainty, and apply the Linear
Quadratic Regulator (LQR) method, which possesses robustness against uncertainty, to determine the stabilizing feedback coefficients.
Second, from the fact that the tracking error is unavoidable, we use the “virtual reference trajectory” to design the tracking
control law, and optimize this trajectory to reduce the tracking error between the “actual reference trajectory” and the “resulting
trajectory”. This optimization also improves the control performance by choosing a suitable performance index. By using our
approach, we achieve better performance even if the coupling factor is increased. We show these results by numerical simulation.
This work was presented, in part, at the Seventh International Symposium on Artificial Life and Robotics, Oita, Japan, January
16–18, 2002 相似文献
23.
This paper presents novel power system stabilizers (PSS) tuning approach with particles swarm optimization (PSO) driven knowledge domain states mapping for multi area power system. Tuning of PSS parameters has been done by PSO technique offline at different operating conditions as load dynamics change. The objective function for PSS parameters tuning is integral time multiplied by absolute error (ITAE). The sets of tuned parameters at different operating conditions thus obtained are termed as knowledge domain. The process is viewed as knowledge domain mapping. The dynamical system response has been linked with states, and if there is any violation from desired limits, control action is initiated and thus retuned control parameters obtained straight away from the respective knowledge domain helps to provide quick response and precise damping of signals of interest. Proposed concept also demonstrates that if one controller (PSS) fails to stabilize the system at certain operating condition then another controller (UPFC) connected in the system acts as supplementary controller in automation which assists PSS functioning and thus entire system operation improves by way of modulating the signal dynamics at interface points which quickly damps oscillations. The system study has been performed on a sample six area power systems comprising of UPFC connected between area two and three and PSS to all areas. The proposed concept demonstrates auto tuning of PSS for quick oscillation damping as the operating conditions change and also under situations of PSS failure due to relatively larger perturbation, UPFC acts as supplementary controller by assisting the entire system PSS to recover ensuring stability. 相似文献
24.
倒立摆系统作为典型的控制对象,不仅对控制设计提出了难题,同时为很多先进控制方法的研究和应用提供了一个很好的实验平台。该文分别用PID控制法、优化控制策略的LQR及极点配置法等3种方法对单级倒立摆系统进行控制,并利用MATLAB仿真对3种控制算法的效果进行了对比,讨论了3种方法之间的优缺点。仿真实验表明:PID法与极点配置法具有较好的瞬态性,LQR法具有较好的鲁棒性。在实际应用中,可根据控制系统的具体指标要求选择适合的控制方法,具有一定的指导意义。 相似文献
25.
倒立摆的PID与LQR控制算法的对比研究 总被引:1,自引:0,他引:1
文章在一级倒立摆的数学模型的基础上,基于MATLAB仿真软件,对一级倒立摆的PID及LQR控制算法进行了仿真研究,一般而言,LQR控制算法的控制性能要优于PID控制算法. 相似文献
26.
倒立摆控制系统是一个典型的高阶次、不稳定、多变量、非线性和强藕合控制系统。本文研究对象是基于研华公司数据采集卡PCI-1710-B的倒立摆控制系统。通过对一级倒立摆系统控制原理分析、数学建模分析、状态反馈设计、MATLAB仿真。然后在搭建的实验平台上用LQR方法编程实现对其最优控制。MATLAB仿真结果良好,软件部分采用VB开发,实现了对系统的‘倒立’控制和相关实时参数的显示。 相似文献
27.
28.
针对传统模糊控制的不足,以三级倒立摆为例,应用变论域自适应模糊控制理论,给出了三级倒立摆的数学模型,并验证了其可控性。考虑到三级倒立摆为多变量系统,为了解决模糊控制器规则组合爆炸问题,利用LQR理论先设计出状态反馈器,再进行降维处理。最后利用变论域自适应模糊控制理论给出伸缩因子,从而得到变论域自适应模糊控制器。仿真结果表明,该方法控制精度高,具有良好的稳定性和鲁棒性,可实现倒立摆系统的随动控制。 相似文献
29.
Young?Bong?Seo Jae?Weon?ChoiEmail author 《Journal of Mechanical Science and Technology》2003,17(3):329-335
EALQR (Linear Quadratic Regulator design with Eigenstructure Assignment capability) has the capability of exact assignment
of eigenstructure with the guaranteed margins of the LQR for MIMO (Multi-Input Multi-Output) systems. However, EALQR undergoes
a restriction on the state-weighting matrixQ in LQR to be indefinite with respect to the region of allowable closed-loop eigenvalues. The definiteness of the weighting
matrix is closely related to the robustness property of a given system. In this paper, we derive a relation between the indefinite
weighting matrix Q and the robustness property for EALQR. The modified frequency domain inequality, that could be guaranteed
by EQLQR with an indefinite weighting matrix, is presented. 相似文献
30.
本文针对LQR控制在单级倒立摆控制中的不足,设计了一个LQR结合PID的复合控制.并在Borland c语言环境下编写控制程序,成功实现倒立摆的控制,其控制效果比单-LQR控制的抗扰能力有明显提高. 相似文献