本文關(guān)鍵詞：輸入受限系統(tǒng)增益調(diào)度控制及其在近空間飛行器中的應(yīng)用　出處：《哈爾濱工業(yè)大學(xué)》2016年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 輸入受限 增益調(diào)度 參量Lyapunov方程 切換系統(tǒng) 非對稱飽和非線性 近空間高超聲速飛行器

【摘要】：每個(gè)控制系統(tǒng)本質(zhì)上都存在飽和特性。然而,許多控制理論在設(shè)計(jì)控制器時(shí)沒有考慮執(zhí)行器飽和非線性的約束對閉環(huán)系統(tǒng)的穩(wěn)定性的影響,這使得所設(shè)計(jì)的控制器無法應(yīng)用于工程實(shí)踐。由于在設(shè)計(jì)控制器時(shí)考慮飽和非線性會增加控制器的設(shè)計(jì)難度,因此,輸入受限系統(tǒng)具有重要的研究價(jià)值。本文通過求解參量Riccati方程,解決了輸入受限系統(tǒng)控制器設(shè)計(jì)問題,并通過設(shè)計(jì)近空間飛行器的控制器驗(yàn)證了所提方法的有效性。具體工作如下:分別針對輸入受限切換系統(tǒng)和帶有參數(shù)不確定性的輸入受限切換系統(tǒng),提出了基于參量Lyapunov方程的控制器設(shè)計(jì)方法。在輸入受限切換系統(tǒng)中,每個(gè)子系統(tǒng)平衡點(diǎn)是不相同的,針對該類具有飽和非線性執(zhí)行器的切換系統(tǒng),設(shè)計(jì)了離散增益調(diào)度狀態(tài)反饋控制器。所設(shè)計(jì)的控制器通過增大代表閉環(huán)系統(tǒng)收斂速度的參數(shù)的值,提高了閉環(huán)系統(tǒng)的收斂速度,改善了閉環(huán)系統(tǒng)動態(tài)性能。針對參數(shù)不確定性輸入受限控制系統(tǒng),設(shè)計(jì)了魯棒離散增益調(diào)度控制器。所設(shè)計(jì)的控制器可以保證執(zhí)行器不發(fā)生飽和,且閉環(huán)系統(tǒng)是穩(wěn)定的,并給出了實(shí)現(xiàn)系統(tǒng)魯棒穩(wěn)定的條件。參量Lyapunov方法可以處理開環(huán)不穩(wěn)定的系統(tǒng),所提控制方法可以推廣到輸入受限指數(shù)不穩(wěn)定系統(tǒng)。該方法通過數(shù)值例子得以驗(yàn)證。針對輸入受限系統(tǒng)研究了魯棒控制問題。針對控制輸入飽和受限情況下不確定系統(tǒng),設(shè)計(jì)了魯棒連續(xù)靜態(tài)增益調(diào)度狀態(tài)反饋控制器,并分析了擾動為零和不為零時(shí)系統(tǒng)的穩(wěn)定性問題;針對具有執(zhí)行器飽和與控制輸入不確定性的線性系統(tǒng),設(shè)計(jì)了魯棒連續(xù)靜態(tài)增益調(diào)度輸出反饋控制器,解決了系統(tǒng)的魯棒鎮(zhèn)定問題。通過引入設(shè)計(jì)參數(shù)提高了閉環(huán)系統(tǒng)的收斂速度,仿真結(jié)果驗(yàn)證了方法的有效性�？紤]非對稱輸入受限系統(tǒng)控制器設(shè)計(jì)問題。利用簡單的變量代換,給出了對稱飽和函數(shù)和非對稱飽和函數(shù)之間的關(guān)系式,并研究了新系統(tǒng)的不變集和穩(wěn)定性問題。針對非對稱輸入受限系統(tǒng),設(shè)計(jì)了基于非對稱飽和非線性的離散增益調(diào)度狀態(tài)反饋控制器,給出了非對稱輸入受限系統(tǒng)估計(jì)最大不變集的方法。通過增大所設(shè)計(jì)參數(shù)的值,提高了閉環(huán)系統(tǒng)的收斂速度,保證了閉環(huán)系統(tǒng)的指數(shù)穩(wěn)定。所提控制方法應(yīng)用到數(shù)值例子和BTT導(dǎo)彈模型,仿真結(jié)果驗(yàn)證了方法的有效性。第五章將第二章、第三章和第四章中的部分理論成果用于近空間飛行器的控制器設(shè)計(jì)。本章結(jié)合了第二章和第四章控制器設(shè)計(jì)方法,對非對稱飽和非線性切換系統(tǒng)設(shè)計(jì)控制器�？刂品椒ǚ謩e應(yīng)用到定常系統(tǒng)、切換系統(tǒng)、時(shí)變系統(tǒng)和非線性系統(tǒng),所提控制方法可以保證控制信號滿足約束條件。
[Abstract]:However, many control theories do not consider the effect of actuator saturation nonlinear constraints on the stability of closed-loop systems. This makes the designed controller can not be used in engineering practice. Considering the saturation nonlinearity in the design of the controller, it will increase the design difficulty of the controller. Input-constrained system has important research value. In this paper, the problem of controller design for input-constrained system is solved by solving the parameter Riccati equation. The effectiveness of the proposed method is verified by designing the controller of the near space vehicle. The main work is as follows: for the input constrained switching system and the input constrained switching system with parameter uncertainty, respectively. A controller design method based on parametric Lyapunov equation is proposed. In the input constrained switching system, the equilibrium points of each subsystem are different. A discrete gain scheduling state feedback controller is designed for this class of switched systems with saturated nonlinear actuators. The controller is designed by increasing the value of the parameters representing the convergence speed of the closed-loop system. The convergence speed of the closed-loop system is improved and the dynamic performance of the closed-loop system is improved. A robust discrete gain scheduling controller is designed, which can ensure that the actuator is not saturated and the closed-loop system is stable. The condition of robust stability of the system is given. The parametric Lyapunov method can deal with the open loop unstable system. The proposed control method can be extended to input-constrained exponential unstable systems. The method is verified by numerical examples. The robust control problem for input-constrained systems is studied. Fixed system. The robust static gain scheduling state feedback controller is designed, and the stability of the system with zero disturbance and no 00:00 disturbance is analyzed. A robust continuous static gain scheduling output feedback controller is designed for linear systems with actuator saturation and control input uncertainty. The robust stabilization problem of the system is solved, and the convergence rate of the closed-loop system is improved by introducing the design parameters. The simulation results show the effectiveness of the method. Considering the problem of controller design for asymmetric input constrained systems, the relationship between symmetric saturation function and asymmetric saturation function is given by using simple variable substitution. The invariant set and stability of the new system are studied. A discrete gain scheduling state feedback controller based on asymmetric saturation nonlinearity is designed for asymmetric input constrained systems. A method for estimating the maximum invariant set of asymmetric input constrained systems is presented. By increasing the value of the designed parameters, the convergence rate of the closed-loop system is improved. The proposed control method is applied to numerical examples and BTT missile model. The simulation results verify the effectiveness of the method. Chapter 5th will be the second chapter. Some of the theoretical results in chapter 3 and chapter 4th are used in the controller design of near space vehicle. This chapter combines the methods of controller design in chapter 2 and chapter 4th. The controller is designed for asymmetric saturation nonlinear switching system. The control method is applied to the steady system, the switched system, the time-varying system and the nonlinear system, respectively. The proposed control method can ensure that the control signal meets the constraint conditions.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：V249.1

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