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Nonlinear multi-time-scale delay system modeling and control method

A system modeling and control method technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of inability to eliminate fast-changing modes, external disturbances and system parameters, etc.

Inactive Publication Date: 2014-02-19
AUTOMATION RES & DESIGN INST OF METALLURGICAL IND
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a nonlinear multi-time-scale time-delay system modeling and control method, based on the NMTSTDSs high-precision control method of UDTTDFSPM, to solve the problem that the existing NMTSTDSs control method cannot eliminate fast-changing modes, external disturbances and system parameters. The steady-state error problem caused by determinism greatly improves the overall control performance of NMTSTDSs

Method used

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  • Nonlinear multi-time-scale delay system modeling and control method
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  • Nonlinear multi-time-scale delay system modeling and control method

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Embodiment approach

[0071] Helicopter attitude control system is a typical NMTSTDSs, the method of the present invention is applied to the CE150 helicopter attitude control system of Humusoft Company below, and in conjunction with figure 1 and figure 2 , to illustrate its implementation method, the specific process is as follows:

[0072] Step 1: Based on the existing helicopter dynamics model, a continuous-time uncertain time-delay fuzzy singular perturbation model of the helicopter attitude control system is established.

[0073] The schematic diagram of CE150 helicopter attitude control structure is as follows: image 3 As shown, the dynamic model of the helicopter is:

[0074]

[0075] Among them, I d is the moment of inertia of the helicopter along the horizontal axis, T(t) is the driving moment, T f (t) is the friction torque, T m (t) is the gravitational moment, is the attitude angle, and τ is the delay constant.

[0076]

[0077] in, is the coefficient of friction, m is t...

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Abstract

The invention discloses a nonlinear multi-time-scale delay system modeling and control method and belongs to the technical field of controlling of complex systems. The method is based on the UDTTDFSPM and combined with a spectral norm and linear matrix inequality method, a robust combination controller is designed for controlled NMTSTDSs, and high-precision and stable control of the NMTSTDSs is achieved. According to a dynamic model of the NMTSTDSs, an uncertainty continuous time delay obscurity singular perturbation model of the NMTSTDSs is set up, a proper sampling period is selected, a zero-order holder method is adopted to perform discretization on the obtained continuous model, and the UDTTDFSPM of the NMTSTDSs is obtained. The robust combination controller is designed on the basis and is composed of an obscurity slow state feedback controller and an output integrator. The nonlinear multi-time-scale delay system modeling and control method has the advantage of solving the problem of steady-state errors which are caused by system external disturbance and the fast modality of the NMTSTDSs and cannot be solved by an existing modeling and control method, and the control performance of the NMTSTDSs is greatly improved. The nonlinear multi-time-scale delay system modeling and control method is used for controlling the simulation result of postures of a CE150 helicopter, and validity of the method can be shown.

Description

technical field [0001] The invention belongs to the technical field of complex system control, and in particular provides a modeling and control method for a nonlinear multi-time-scale and time-delay system. Uncertain Discrete-timeTime-Delay Fuzzy Singularly Perturbed Model (Uncertain Discrete-timeTime-Delay Fuzzy Singularly Perturbed Model, UDTTDFSPM for short) high-precision robust control method, suitable for thin or ultra-thin strip hot rolling control system High-precision control can also be used for attitude stability control of complex flexible satellites and helicopters, as well as modeling and control of other complex systems with the above characteristics such as robots, power systems, and drilling platforms. Background technique [0002] Nonlinear, multi-time-scale and delay characteristics often coexist in the same system, such systems can be collectively referred to as nonlinear multiple time-scale time-delay systems (Nonlinear Multiple Time-Scales Time-Delay S...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 陈金香
Owner AUTOMATION RES & DESIGN INST OF METALLURGICAL IND
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