连续搅拌釜式反应器的鲁棒最优控制

针对一类带不确定性的连续搅拌釜式反应器,提出基于滑模控制理论的鲁棒最优控制算法。输入输出线性化方法用于线性化对象模型,假设系统的不确定因素有界,滑模面采用积分型滑模面以确保系统稳态误差为零,将线性二次型理论用于等效控制律的设计中,保证了系统的性能指标最优,自适应滑模切换控制增益的选取在降低系统抖振的前提下补偿了系统的不确定因素及外部扰动,实现了控制器的鲁棒最优。通过仿真实验表明,提出的控制器对匹配的不确定性因素及外部扰动具有鲁棒性,且闭环系统的性能指标最优。

Robust optimal control for nonlinear continuous stirred tank reactor

A robust optimal controller based on sliding mode control(SMC)was designed for the nonlinear uncertain continuous stirred tank reactor(CSTR).Input-output linearization was used to linearize the nonlinear CSTR,and the only assumption on the uncertainties was that they are bounded. Defining the integral sliding mode surface to assure the steady errors of closed-loop system be zero. Equivalent control law improving the transient characteristics was designed to minimize the quadratic cost function.The adaptive switch control gain could drive the state variables to the sliding surface as soon as possible without causing too much chattering problem,and the uncertainties of the controlled CSTR could be compensated.Simulation results showed that the proposed approach was a practical and valid scheme for the nonlinear uncertain chemical process.