發(fā)布時(shí)間：2018-02-12 23:52

  本文關(guān)鍵詞： 組合非線性反饋 CE150直升機(jī)模型 輸入飽和 輸出調(diào)節(jié) 多輸入多輸出　出處：《南昌航空大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：輸出調(diào)節(jié)問(wèn)題是現(xiàn)代控制理論中的重要研究課題之一,隨著輸出調(diào)節(jié)問(wèn)題在工程實(shí)際中應(yīng)用越來(lái)越廣,被控系統(tǒng)的復(fù)雜度和多樣性成為了不可避免的問(wèn)題。由于被控系統(tǒng)的結(jié)構(gòu)復(fù)雜,如何設(shè)計(jì)良好性能的控制器不僅是一個(gè)關(guān)鍵點(diǎn),也是一個(gè)難點(diǎn)。因此,輸出調(diào)節(jié)問(wèn)題也成為現(xiàn)代控制理論中一個(gè)具有挑戰(zhàn)性的研究領(lǐng)域。本論文通過(guò)研究三類(lèi)不同的被控系統(tǒng)的輸出調(diào)節(jié)問(wèn)題來(lái)闡述幾類(lèi)輸出調(diào)節(jié)控制器的設(shè)計(jì)。第一類(lèi)是具有輸入飽和的線性系統(tǒng)基于組合非線性反饋控制的輸出調(diào)節(jié)問(wèn)題;第二類(lèi)是具有輸入飽和的多輸入多輸出系統(tǒng)基于組合非線性反饋控制的輸出調(diào)節(jié)問(wèn)題;第三類(lèi)是具有輸入飽和的離散化多輸入多輸出系統(tǒng)基于組合非線性反饋控制的輸出調(diào)節(jié)問(wèn)題。具體的研究工作如下:第一,研究了截止到目前的輸出調(diào)節(jié)問(wèn)題的相關(guān)文獻(xiàn)和組合非線性反饋控制的理論成果,輸入飽和是輸出調(diào)節(jié)問(wèn)題在應(yīng)用到實(shí)際系統(tǒng)時(shí)常見(jiàn)的問(wèn)題。本文給出了基于組合非線性反饋控制的輸入飽和控制器設(shè)計(jì)方法,使閉環(huán)系統(tǒng)同時(shí)具備良好的穩(wěn)態(tài)性能和瞬態(tài)性能。第二,復(fù)雜系統(tǒng)通常具有高階多輸入多輸出的特點(diǎn),會(huì)影響跟蹤控制器的設(shè)計(jì)和性能。本文通過(guò)組合非線性反饋控制律中線性部分保證響應(yīng)前期的跟蹤速度,非線性部分消除由線性部分引起的超調(diào)量,實(shí)現(xiàn)對(duì)輸入飽和的高階多輸入多輸出線性系統(tǒng)的跟蹤控制。第三,已有的組合非線性反饋設(shè)計(jì)方法主要針對(duì)的都是給定參考點(diǎn)和連續(xù)信號(hào)的軌跡跟蹤,對(duì)于離散系統(tǒng)中信號(hào)的跟蹤還沒(méi)有深入研究,尤其是具有高階多輸入多輸出特性的復(fù)雜離散系統(tǒng)的控制器設(shè)計(jì)。本文給出了離散組合非線性反饋控制器和相應(yīng)降階觀測(cè)器的設(shè)計(jì)方法,在離散時(shí)間域上實(shí)現(xiàn)系統(tǒng)的跟蹤定位。第四,應(yīng)用輸入飽和高階多變量組合非線性反饋控制設(shè)計(jì)方法針對(duì)帶有輸入飽和的直升機(jī)模型進(jìn)行控制器設(shè)計(jì)和輸出調(diào)節(jié)。為了能夠跟蹤參考信號(hào),構(gòu)建了一個(gè)狀態(tài)擾動(dòng)觀測(cè)器和一個(gè)組合非線性反饋控制器。為了研究控制器的性能,分別在無(wú)外部干擾和有外部干擾兩種情況下設(shè)計(jì)了控制器。所有的仿真結(jié)果表明復(fù)合非線性反饋控制器是有效的,它證明組合非線性反饋控制方法能夠明顯地改善系統(tǒng)的瞬態(tài)性能。
[Abstract]:The output regulation problem is one of the important research topics in modern control theory. With the increasing application of output regulation problem in engineering practice, The complexity and diversity of the controlled system become an inevitable problem. Because the structure of the controlled system is complex, how to design a controller with good performance is not only a key point, but also a difficulty. The output regulation problem has become a challenging research field in modern control theory. This paper discusses the design of several kinds of output control controllers by studying the output regulation problems of three kinds of different controlled systems. Class is an output regulation problem for linear systems with input saturation based on combinatorial nonlinear feedback control. The second kind is the output regulation problem of multi-input multi-output systems with input saturation based on combinatorial nonlinear feedback control. The third is the output regulation problem of discrete multi-input multiple-output systems with input saturation based on combinatorial nonlinear feedback control. The research work is as follows: first, The related literature on output regulation problem up to now and the theoretical results of combinatorial nonlinear feedback control are studied. Input saturation is a common problem in the application of output regulation to practical systems. In this paper, a design method of input saturation controller based on combinatorial nonlinear feedback control is presented. The closed-loop system has good steady-state performance and transient performance at the same time. Second, complex systems usually have the characteristics of high-order multi-input and multi-output. In this paper, the linear part of the combined nonlinear feedback control law guarantees the tracking speed in the early response, and the nonlinear part eliminates the overshoot caused by the linear part. The tracking control of high-order multi-input multiple-output linear systems with input saturation is realized. Thirdly, the existing design methods of combinatorial nonlinear feedback are mainly aimed at tracking the trajectory of given reference points and continuous signals. The tracking of signals in discrete systems has not been studied in depth. In particular, the controller design of a complex discrete system with high order multi-input and multi-output characteristics is presented. The design method of discrete combinatorial nonlinear feedback controller and corresponding reduced order observer is presented in this paper. System tracking and positioning in discrete time domain. 4th, The controller design and output regulation of helicopter model with input saturation are carried out by using the input saturation high order multivariable combined nonlinear feedback control method. In order to track the reference signal, A state disturbance observer and a combined nonlinear feedback controller are constructed. The controller is designed without external interference and with external disturbance respectively. All the simulation results show that the composite nonlinear feedback controller is effective. It is proved that the combined nonlinear feedback control method can obviously improve the transient performance of the system.
【學(xué)位授予單位】：南昌航空大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP13

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