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排序方式: 共有73条查询结果,搜索用时 62 毫秒
1.
内模控制研究的新发展   总被引:22,自引:1,他引:21       下载免费PDF全文
概述了内模控制(IMC)的研究现状和新发展,详细论述了内模控制特别是非线性系统内模控制研究中的主要方面及其研究成果.首先介绍了内模控制中的各种建模方法,指出它们各自的优缺点,并根据内模控制的发展趋势着重分析了内模控制器的设计及其改进结构,内模控制与其他控制方法的结合方式等几个关键性问题.最后指出了内模控制研究中存在的一些混淆,并探讨了这一研究领域的发展方向.  相似文献
2.
A unified framework for the study of anti-windup designs   总被引:20,自引:0,他引:20  
We present a unified framework for the study of linear time-invariant (LTI) systems subject to control input nonlinearities. The framework is based on the following two-step design paradigm: ‘design the linear controller ignoring control input nonlinearities and then add anti-windup bumpless transfer (AWBT) compensation to minimize the adverse effects of any control input nonlinearities on closed loop performance’. The resulting AWBT compensation is applicable to multivariable controllers of arbitrary structure and order. All known LTI anti-windup and/or bumpless transfer compensation schemes are shown to be special cases of this framework. This unification of existing schemes for AWBT compensation under a general framework is the main result of the paper.  相似文献
3.
The purpose of this paper is to study the determination of stability regions for discrete-time linear systems with saturating controls through anti-windup schemes. Considering that a linear dynamic output feedback has been designed to stabilize the linear discrete-time system (without saturation), a method is proposed for designing an anti-windup gain that maximizes an estimate of the basin of attraction of the closed-loop system in the presence of saturation. It is shown that the closed-loop system obtained from the controller plus the anti-windup gain can be locally modeled by a linear system with a deadzone nonlinearity. Then, based on the use of a new sector condition and quadratic Lyapunov functions, stability conditions in an LMI form are stated. These conditions are then considered in a convex optimization problem in order to compute an anti-windup gain that maximizes an estimate of the basin of attraction of the closed-loop system. Moreover, considering asymptotically stable open-loop systems, it is shown that the conditions can be slightly modified in order to determine an anti-windup gain that ensures global stability. An extension of the proposed results to the case of dynamic anti-windup synthesis is also presented in the paper.  相似文献
4.
Analysis and control of a nonlinear boiler-turbine unit   总被引:1,自引:0,他引:1  
A distance measure is proposed via the gap metric in this paper, and the concept is applied to a boiler-turbine unit to analyze its dynamics. It is shown that the unit shows severe nonlinearity, but the nonlinearity can be avoided by careful choice of the operating range. A single linear controller can be designed to work in such an operating range. It is also shown that the controller constraint is another source of the nonlinearity, which can be compensated using anti-windup techniques. Simulation results are given to verify the conclusions.  相似文献
5.
H∞回路成形法设计直升机飞控系统   总被引:1,自引:0,他引:1  
朱华  杨一栋 《计算机仿真》2007,24(7):62-64,291
直升机飞控系统幅频特性应低频高增益,高频低增益,尽可能提高带宽,以适应全包线机动飞行,优良动态跟踪及通道解耦等要求.用回路成形法结合经典控制理论,通过选取恰当的权阵和,而后用优化得到控制器,给出了直升机飞控系统内回路工程设计的具体策略.并指出了回路成形设计中的抗积分卷绕实施途径.对所给出的设计策略的有效性均辅以仿真验证.在成功的内回路设计基础上,可简便地单独设计外回路各通道.  相似文献
6.
Seong-Sik  Jong-Koo  Tae-Woong   《Automatica》2008,44(12):3176-3180
This paper proposes a dynamic compensation scheme for input-constrained feedback linearizable nonlinear systems to cope with the windup phenomenon. Given a dynamic feedback linearizing controller designed without considering its input constraint, an additional dynamic compensator is proposed to account for the constraint. This dynamic anti-windup is based on the minimization of a reasonable performance index. The proposed strategy is a nonlinear extended version of [Park, J.-K., & Choi, C.-H. (1995). Dynamic compensation method for multivariable control systems with saturating actuators. IEEE Transactions on Automatic Control, 40(9), 1635–1640] with simplified derivation of an optimization solution under relaxed assumptions. The parameter matrices and structure of the solution are explicitly decided by mathematical optimization for infinite horizon without tuning of design parameters unlike previous schemes. During input saturation, the role of the anti-windup scheme with the proposed dynamic feedback compensator is to maintain the controller states to be exactly the same as those without input saturation. The local asymptotic stability and the total stability of the resulting systems are proved. The usefulness of the proposed design method is illustrated by comparative simulations for a constrained control system.  相似文献
7.
对于雅克比阵不确定的操作机器人笛卡尔空间操作任务, 提出一种鲁棒非线性PID控制器的抗饱和设计方案, 解决了PID控制中的积分饱和问题. 该控制器通过引入有界递增分段连续函数于PID控制器中的积分环节, 限制了积分器的积分作用, 从而克服了积分环节对闭环系统的不利影响: 一方面使得闭环系统是渐进稳定的, 另一方面又保证了其鲁棒性; 特别是, 相比于其它的抗饱和设计方法, 显得更加简单有效.  相似文献
8.
电机参数的在线辨识补偿与控制器的设计是提高矢量控制系统性能的关键。基于多新息最小二乘法设计了感应电机参数辨识器,利用定子电压、定子电流和转速,估算出感应电机的转子时间常数和定子电阻;针对传统PI调节器的饱和现象,利用Anti-Windup技术设计了速度控制器,通过引入反计算系数减小积分饱和对系统的影响,从而改善系统的动、静态性能。基于Matlab的仿真结果证明了所设计的多新息最小二乘参数估计器和Anti-Windup速度控制器的有效性。  相似文献
9.
This paper gives a general way to take into account, by an appropriate design of the controller, any discrepancy which can occur between the actual inputs of a process and the desired outputs of its controller. This yields to the so-called conditioned control algorithms.The conditioning technique is described for multiple-input-multiple-output nonlinear controllers. Application to complex control structures is explained.The notion of a self-conditioned controller is defined in order to simplify the implementation of the conditioning technique. Some considerations about the stability of conditioned systems are given. The automatic initialization of any control algorithm is given as an application of the method. It shows that bumpless transfer can be achieved.  相似文献
10.
In this paper we give a constructive method for anti-windup design for general linear saturated plants with exponentially unstable modes. The constructive solution is independent of the controller dynamics so that the size of the (necessarily bounded) operating region in the exponentially unstable directions of the plant state space is large. Desirable properties of the closed-loop are formally proved and shown to induce a very desirable behavior on a MIMO example with two exponentially unstable modes.  相似文献
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