【摘要】：本文主要研究幾種提升系統(tǒng)性能的多控制器切換規(guī)則。相對于單一控制器而言,多個(gè)控制器切換控制為設(shè)計(jì)者提供了更多的自由度,從而可能獲得單一控制所不可能達(dá)到的控制效果。如廣為應(yīng)用的變結(jié)構(gòu)控制,多模型自適應(yīng)控制等方法都是通過多個(gè)控制器的切換提高了系統(tǒng)的抗擾動能力和動態(tài)性能。多控制器切換使得整個(gè)閉環(huán)系統(tǒng)成為一個(gè)切換系統(tǒng),可以應(yīng)用切換系統(tǒng)理論加以分析和論證。近10年來,切換系統(tǒng)理論迅速發(fā)展,形成了較系統(tǒng)的理論體系,主要利用類Lyapunov函數(shù)法進(jìn)行分析和設(shè)計(jì)。大量結(jié)果表明,通過切換信號和控制器的雙重設(shè)計(jì),可以獲得非切換系統(tǒng)所不具有的優(yōu)良性能。本文研究為切換對象-跳變負(fù)載機(jī)械臂和非切換對象-雙容水槽分別設(shè)計(jì)多個(gè)控制器和切換律,以提升系統(tǒng)的性能。主要工作如下:(1)采用切換系統(tǒng)描述參數(shù)跳變機(jī)械臂,在負(fù)載變化可測時(shí),即切換信號可用的情況下,基于平均駐留時(shí)間方法為機(jī)械臂設(shè)計(jì)切換滑�？刂破�。(2)在負(fù)載變化不可檢測,即切換信號不可用的情況下,為切換機(jī)械臂模型設(shè)計(jì)子控制器及控制器的選擇機(jī)制。通過設(shè)計(jì)監(jiān)督變量來為候選控制器構(gòu)建切換邏輯,當(dāng)負(fù)載變化足夠慢時(shí),實(shí)現(xiàn)了漸近跟蹤。(3)基于物質(zhì)量觀點(diǎn)為雙容水槽設(shè)計(jì)快速無超調(diào)切換控制器。首先,由水槽的穩(wěn)態(tài)工作點(diǎn)得到其平衡流形。然后,設(shè)計(jì)工作點(diǎn)遷移控制器、工作點(diǎn)保持控制器以及兩個(gè)控制器的切換律從而得到液位的無超調(diào)切換控制器。
[Abstract]:In this paper, several multi-controller switching rules to improve the performance of the system are studied. Compared with a single controller, multiple controller switching control provides designers with more degrees of freedom, so that the control effect that a single control can not achieve may be obtained. For example, the widely used variable structure control and multi-model adaptive control methods improve the disturbance rejection and dynamic performance of the system through the switching of multiple controllers. Multi-controller switching makes the whole closed-loop system a switching system, which can be analyzed and demonstrated by switching system theory. In recent 10 years, the theory of switching system has developed rapidly, and a more systematic theoretical system has been formed, which is mainly analyzed and designed by Lyapunov-like function method. A large number of results show that the excellent performance of the non-switching system can be obtained by the dual design of the switching signal and the controller. In this paper, multiple controllers and switching laws are designed for switching object-jump load manipulator and non-switching object-double tank respectively to improve the performance of the system. The main work is as follows: (1) the switching system is used to describe the parameter jump manipulator, when the load change is measured, that is, when the switching signal is available, Based on the average residence time method, a switching sliding mode controller is designed for the manipulator. (2) when the load change is not detected, that is, the switching signal is not available, the sub-controller and the selection mechanism of the controller are designed for the switched manipulator model. The switching logic is constructed for the candidate controller by designing supervision variables. When the load change is slow enough, the asymptotic tracking is realized. (3) based on the material quality point of view, a fast non-overshoot switching controller is designed for the double tank. Firstly, the equilibrium manifolds of the flume are obtained from the steady-state working point of the flume. Then, the working point migration controller, the working point holding controller and the switching law of the two controllers are designed to obtain the liquid level non-overshoot switching controller.
【學(xué)位授予單位】：河北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273

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