本文關(guān)鍵詞：非線性系統(tǒng)的約束控制及其應(yīng)用研究　出處：《西北工業(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： 非線性系統(tǒng) 自適應(yīng)控制 動(dòng)態(tài)面控制 約束控制 Backstepping方法 障礙Lyapunov函數(shù) 無刷直流電機(jī) 飛機(jī)剎車系統(tǒng)

【摘要】：由于控制對(duì)象物理局限性、系統(tǒng)干擾和系統(tǒng)安全等因素的影響,實(shí)際控制系統(tǒng)不可避免地會(huì)受到輸入、輸出或狀態(tài)約束等約束特性的限制。這些系統(tǒng)約束的存在使得控制器的設(shè)計(jì)更加復(fù)雜與困難,非線性系統(tǒng)的約束控制也成為非線性控制領(lǐng)域的研究熱點(diǎn)。基于障礙Lyapunov函數(shù)(Barrier Lyapunov Function)的約束控制方法因其不需要系統(tǒng)的精確解而被廣泛用來處理狀態(tài)約束與輸出約束的問題,但是該控制方法采用的backstepping技術(shù)需要對(duì)虛擬穩(wěn)定函數(shù)進(jìn)行重復(fù)求導(dǎo)帶來了系數(shù)膨脹的問題。動(dòng)態(tài)面技術(shù)通過引入一階濾波器來獲得微分項(xiàng),從而很好地避免了這個(gè)問題。本文基于非對(duì)稱障礙Lyapunov函數(shù),結(jié)合動(dòng)態(tài)面技術(shù),針對(duì)具有輸出約束特性的非線性系統(tǒng)的控制理論與應(yīng)用,主要研究了一類具有嚴(yán)格反饋形式的非線性系統(tǒng)的時(shí)變輸出約束控制和一類具有不確定系統(tǒng)參數(shù)的非線性系統(tǒng)的輸出約束控制問題。并針對(duì)無刷直流電機(jī)中復(fù)雜的非線性環(huán)節(jié)和不確定的負(fù)載轉(zhuǎn)矩問題,設(shè)計(jì)了基于分?jǐn)?shù)階微積分的負(fù)載轉(zhuǎn)矩觀測(cè)器,提出了無刷直流電機(jī)系統(tǒng)的改進(jìn)動(dòng)態(tài)面控制方案。針對(duì)飛機(jī)全電剎車系統(tǒng),直接考慮系統(tǒng)工作的穩(wěn)定區(qū)域問題,在已有滑移率控制方法的基礎(chǔ)上,提出了滑移率輸出約束控制策略,從根本上避免了抱死現(xiàn)象的發(fā)生。同時(shí)針對(duì)結(jié)合系數(shù)的不確定性問題,設(shè)計(jì)了自適應(yīng)的滑移率輸出約束控制方案,提高了剎車效率和系統(tǒng)魯棒性。本文的具體工作歸納如下:1.闡述了非線性控制理論的研究現(xiàn)狀及其發(fā)展趨勢(shì),并對(duì)無刷直流電機(jī)系統(tǒng)的研究現(xiàn)狀和飛機(jī)全電剎車系統(tǒng)的研究情況進(jìn)行了綜述。2.針對(duì)一類具有嚴(yán)格反饋形式的N階非線性系統(tǒng),在具有時(shí)變輸出約束條件下,基于非對(duì)稱障礙Lyapunov函數(shù),設(shè)計(jì)了動(dòng)態(tài)面控制器。設(shè)計(jì)過程中引入的非對(duì)稱障礙Lyapunov函數(shù),放寬了對(duì)系統(tǒng)初始條件的約束限制,并且沿閉環(huán)系統(tǒng)軌線,獲得Lyapunov函數(shù)的導(dǎo)數(shù)是負(fù)半定的,從而使得控制系統(tǒng)既不違背系統(tǒng)的約束,又使閉環(huán)系統(tǒng)的跟蹤誤差最終一致有界穩(wěn)定并收斂到零的很小鄰域。引進(jìn)動(dòng)態(tài)面技術(shù)后,降低了對(duì)穩(wěn)定函數(shù)高階可微的要求和跟蹤誤差變換函數(shù)高能量的要求,簡(jiǎn)化了控制器設(shè)計(jì)的復(fù)雜性。仿真算例驗(yàn)證了基于非對(duì)稱障礙Lyapunov函數(shù)的動(dòng)態(tài)面控制方法具有良好的跟蹤性能。與單純基于非對(duì)稱障礙Lyapunov函數(shù)的控制方法相比,該控制器結(jié)構(gòu)簡(jiǎn)單,并具有較好的抗干擾能力。3.針對(duì)一類具有輸出約束和不確定參數(shù)的非線性系統(tǒng)的控制問題�；诜菍�(duì)稱障礙Lyapunov函數(shù),提出了一種通過在線估計(jì)修正未知的不確定參數(shù)的自適應(yīng)約束動(dòng)態(tài)面控制策略,并詳細(xì)給出了控制器設(shè)計(jì)過程中控制參數(shù)的選取方法。該控制器結(jié)構(gòu)簡(jiǎn)單,計(jì)算量少,同時(shí)能確保輸出約束的有界性,能夠使閉環(huán)系統(tǒng)的跟蹤誤差最終一致有界穩(wěn)定且收斂到零的很小鄰域。最后通過仿真算例進(jìn)一步闡明了所提出方法的有效性以及魯棒性。4.針對(duì)具有強(qiáng)烈非線性和不確定性的無刷直流電機(jī)系統(tǒng),將本文提出的非對(duì)稱障礙Lyapunov函數(shù)動(dòng)態(tài)面約束控制方法,在horsepower dynamometer實(shí)驗(yàn)平臺(tái)上進(jìn)行了實(shí)驗(yàn)驗(yàn)證。對(duì)負(fù)載轉(zhuǎn)矩這一電機(jī)系統(tǒng)的重要不確定性因素,利用分?jǐn)?shù)階微積分設(shè)計(jì)了一種自適應(yīng)負(fù)載轉(zhuǎn)矩觀測(cè)器,對(duì)負(fù)載轉(zhuǎn)矩進(jìn)行了觀測(cè),有效的補(bǔ)償了負(fù)載變化給系統(tǒng)帶來的控制擾動(dòng)。實(shí)驗(yàn)結(jié)果表明分?jǐn)?shù)階負(fù)載轉(zhuǎn)矩觀測(cè)器對(duì)系統(tǒng)的負(fù)載擾動(dòng)和電機(jī)參數(shù)變化具有響應(yīng)速度快、跟蹤能力強(qiáng)、控制精度高、自適應(yīng)能力強(qiáng)等特點(diǎn),并且簡(jiǎn)單易用,在工程上有一定的實(shí)用價(jià)值。通過兩組仿真實(shí)驗(yàn),闡述了基于障礙Lyapunov函數(shù)和動(dòng)態(tài)面技術(shù)的輸出約束控制方法在實(shí)際系統(tǒng)中的優(yōu)勢(shì)。5.對(duì)飛機(jī)防滑剎車系統(tǒng)的滑移率輸出約束控制問題進(jìn)行了研究。首次通過直接考慮滑移率的穩(wěn)定區(qū)域和不穩(wěn)定區(qū)域來設(shè)計(jì)控制器,提出了以約束滑移率工作在穩(wěn)定區(qū)域的約束控制策略。在建立的飛機(jī)防滑剎車系統(tǒng)全狀態(tài)模型的基礎(chǔ)上,針對(duì)跑道狀態(tài)已知的情形,提出了直接考慮剎車系統(tǒng)的工作區(qū)域來處理飛機(jī)全電剎車系統(tǒng)的滑移率輸出約束控制問題;針對(duì)跑道狀態(tài)未知的情形,提出了基于結(jié)合系數(shù)和滑移率之間不確定關(guān)系的自適應(yīng)約束控制方法,該方法能夠在線快速估計(jì)輪胎與跑道間的結(jié)合系數(shù)。最后通過一系列仿真實(shí)驗(yàn)說明了所提控制方案的有效性。
[Abstract]:Because the control object of physical limitations, influence of interference and system security system and other factors, the actual control system will inevitably be affected by input, output or state constraints. These characteristics limit the system constraint makes the controller design is more complex and difficult, constrained nonlinear control system has become a research hotspot in the field of nonlinear control. Lyapunov (Barrier Lyapunov Function) function based on constraint control method for exact solutions of the system are not needed and is widely used to deal with state constraints and output constraints, but the control method adopts backstepping technology to virtual stable function of repeated differentiation brings expansion coefficient problems. By introducing a first-order dynamic surface technology to obtain a differential filter, so as to avoid this problem. In this paper, based on the Lyapunov asymmetric barrier Function, combined with dynamic surface technology, control theory and application for nonlinear systems with constraints on the output characteristics of the output, a class of constrained control problem of nonlinear systems in strict feedback form the time-varying output constraints and control of a class of nonlinear systems with uncertain parameters is nonlinear. And for the complicated process of Brushless DC motor and uncertain load torque, a load torque observer is designed based on fractional calculus, we proposed an improved dynamic surface control scheme of Brushless DC motor system. According to the aircraft electric braking system, considering the stable region of the system, based on the existing slip ratio control method, is put forward the slip ratio control strategy and output constraints, fundamentally avoids the occurrence of locking phenomenon. At the same time to solve the uncertainty problem of combination coefficient, was designed. The slip rate output constraint control scheme can improve braking efficiency and robustness of the system. The main work of this paper is summarized as follows: 1. describes the research status and development trend of nonlinear control theory, and the research of aircraft brushless DC motor system of electric braking system are surveyed with strict feedback.2. N order form for a class of nonlinear system, variable output constraints with Lyapunov under asymmetric barrier function based on the design of the dynamic surface controller. The number of Lyapunov non symmetric function obstacle to the design process, to relax the restriction on the initial condition of the system, and the closed-loop system along the trajectory, the derivative Lyapunov function is negative semidefinite, which makes the control system without violating the system constraints, and make the tracking error of the closed-loop system is uniformly ultimately bounded and converges to zero A very small neighborhood. The introduction of dynamic surface technology, reduces the stability function of higher order differentials request and tracking error transform function of high energy, simplifies the controller design. The simulation examples demonstrate the dynamic surface Lyapunov asymmetric barrier function control method has good tracking performance. Based on compared based on the control method of Lyapunov asymmetric barrier function, the controller has the advantages of simple structure, and has a good anti-jamming capability of.3. control problem for a class of nonlinear systems with output constraints and uncertain parameters. The Lyapunov asymmetric barrier function based on a through online estimation of unknown uncertain parameters adaptive dynamic surface constraint the control strategy, and gives the detailed method of selecting parameters of the controller design process. The controller has the advantages of simple structure, less computation, and can ensure the transmission A constraint can make the boundedness of the tracking errors of the closed-loop system is uniformly ultimately bounded stable and converges to a small neighborhood of zero. The simulation results further illustrate the validity of the proposed methods and the robustness against.4. with strong nonlinearity and uncertainty of Brushless DC motor system, dynamic Lyapunov asymmetric the barrier function of plane constraint control method proposed in this paper, experiments were carried out in the horsepower dynamometer experimental platform. The important uncertainties on the load torque the motor system, the use of fractional calculus to design an adaptive load torque observer of load torque were observed, the effective compensation control system for load change bring disturbance. The experimental results show that the fractional load torque observer has fast response to load disturbances and parameter variations with the system. Trace ability, high control precision, self-adaptive, and easy to use, has a certain practical value in engineering. Through two sets of simulation experiments, expounds the problem of the sliding output constraint function and dynamic obstacle Lyapunov surface technology control method in the actual system, the advantages of.5. based on aircraft antiskid braking system the rate of output control is studied. For the first time by directly considering the stable region and unstable region slip rate to design a controller, the control strategy was proposed in the stable region constraints to constrain slip work. Foundation brake system model in aircraft antiskid state on the runway for state known situations is proposed considering the work area slip brake system to handle aircraft electric braking system output rate constraint control problem; the runway state is unknown, is proposed based on The adaptive constraint control method based on the uncertain relationship between coefficient and slip rate can quickly and quickly estimate the combining coefficient between tire and runway. Finally, a series of simulation experiments are carried out to illustrate the effectiveness of the proposed control scheme.

【學(xué)位授予單位】：西北工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP273

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