具有执行器饱和系统的控制器设计理论及应用研究

在实际的控制系统中，带有执行器饱和系统是一类常见的非线性系统，如果仅用传统的线性方法对系统控制，执行器的饱和将使系统的动态性能降低，甚至导致闭环系统不稳定。为了降低饱和对闭环系统的影响．本文设计了由非线性控制律和PID控制器两部分组合而成的控制器。非线性部分使闭环系统输出达到设定值时有较大阻尼率以降低超调量。本方法应用于伺服跟踪系统，仿真结果表明了该方法的有效性。

The composite design theory of controller for linear systems with actuator saturation and its application

The problem of actuator saturation appears in many practical control systems. If the controller designed only in conventional linearly techniques, the presence of saturation can debase the performance even lead the closed - loop system to an unstable behavior. In this paper, a compositive controller is composed of PID controller and nonlinear controller. Linear part of nonlinear controller is designed to make the closed - loop system with a small damping for quick response; nonlinear part of nonlinear controller is designed to increase the damping of the closed - loop system and reduce the overshoot. The composite controller designed with this method can be applied to an actual service system. Experiment results prove the effectiveness of this method.