Energy minimum control method of input limited double-integrating system

A technology with minimum energy and limited input, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as no solution, and achieve the effect of accurate results and high computational efficiency

Inactive Publication Date: 2011-06-15
ZHEJIANG UNIV
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  • Abstract
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Problems solved by technology

The difficulty is how to optimally control u based on the principle of minimum value * The nature of find u * The specific method of analyzing the solution, for this problem, there is currently no good solution

Method used

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  • Energy minimum control method of input limited double-integrating system
  • Energy minimum control method of input limited double-integrating system
  • Energy minimum control method of input limited double-integrating system

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Embodiment Construction

[0014] The purpose and effects of the present invention will become more apparent as the present invention is further described below with reference to the accompanying drawings.

[0015] Figure 1-7 It is a schematic diagram of each input form of the energy minimum control of the input-constrained double-integral system. On the premise that the input form is assumed to be established, the optimal control and optimal trajectory under each input form are solved, and the decision variables and variable ranges that determine whether the input form is established are given. For any two-point boundary value, by judging whether the value of the decision variable under each input form is within the appropriate range, the input form under the two-point boundary value condition is determined, and the optimal control and optimal trajectory are obtained.

[0016] Specifically, an energy minimum control method for an input-constrained double-integral system of the present invention inclu...

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Abstract

The invention discloses an energy minimum control method of an input limited double-integrating system. In the method, a plane analysis method is utilized to provide an optimal control and optimal path line non-iterative computational formula of the input limited double-integrating system under the condition of any boundary value on the basis of the Pontryagin minimum principle. The invention provides a solving method with high computing efficiency and accurate and reliable results for optimal control on two-point boundary value fixing.

Description

technical field [0001] The invention relates to the field of optimal control of dynamical systems, in particular to a method for solving the optimal control under the condition of fixed two-point boundary value and limited input. Background technique [0002] Motion control is the real-time control and management of the position and speed of mechanical moving parts, so that they can move according to the expected motion trajectory and specified motion parameters. In a motion control system, "host control" and "executive agency" are two important components in the system. "Executive agencies" are generally stepper motors, servo motors, and DC motors. They act as actuators to drive the tool or workpiece to move; there are mainly four types of "superior control": single-chip microcomputer system, professional motion control PLC, PC+ motion control card, and special control system. "Superior control" is to direct the action of the executive agency. [0003] The double-integra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 曹嬿吴俊熊蓉任子武朱秋国
Owner ZHEJIANG UNIV
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