An Optimal Control Method for Single Machine Infinite Affine Nonlinear System

Abstract

The invention discloses an optimal control method for a single-machine infinite affine nonlinear system. Based on the single-machine infinite system, the nonlinear optimal control design is carried out, and the motion equation of the generator rotor of the single-machine infinite system is written as a single-input and single-output affine nonlinear system. In the form of coordinate mapping, a completely controllable and accurately linearized system is obtained through coordinate mapping, and then the control quantity of the precisely linearized system is solved according to the design method of quadratic optimal control LQR, so as to obtain the nonlinear optimality of the original system controller, and conduct real-time online hardware-in-the-loop simulation to verify the actual feasibility of the scheme. The invention can realize the precise linearization of the single-machine infinite system, and simultaneously considers the non-real-time situation of the pure digital off-line simulation, and verifies the control effect of the controller based on the theory design in the actual real field application through the semi-physical simulation experiment. By checking the effect of the designed controller in practical application, it is helpful for the designed algorithm to be more realistic.

Description

technical field [0001] The invention belongs to the technical field of control algorithms, and in particular relates to an accurate linearization design of a single-machine infinite affine nonlinear system and a semi-physical simulation method. Background technique [0002] The asynchronous motor itself is a high-order, nonlinear, non-homogeneous, strongly coupled time-varying multivariable system, and the actual motor load usually has nonlinear characteristics such as friction and dead zone, so in the past pure digital off-line simulation research In the above, the motor and load models are simplified models based on certain approximate conditions, which are different from the real ones. On the other hand, although pure digital off-line simulation can realize the prediction of control algorithm, quantization error and programming error, it cannot be used for actual system memory limitation, interrupt delay, processor operation speed and I / O interface circuit and other defec...

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Problems solved by technology

[0002] The asynchronous motor itself is a high-order, nonlinear, non-homogeneous, strongly coupled time-varying multivariable system, and the actual motor load usually has nonlinear characteristics such as friction and dead zone, so in the past pure digital off-line simulation research In the above, the motor and load models are simplified models based on certain approximate conditions, which are different from the real ones.

On the other hand, although pure digital off-line simulation can realize the prediction of control algorithm, quantization error and programming error, it cannot be used for actual system memory limitation, interrupt delay, processor operation speed and I / O interface circuit and other defects. exclude

Therefore, the control algorithm based on pure digital off-line simulation can no longer meet the requirements of the actual system

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