Feedback control method for fuzzy time delay state of uncertainty time-delay two-time scale systems (UTDNTTSSs)

A technology of uncertainty and control method, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as delay and steady-state error that cannot be eliminated

Inactive Publication Date: 2015-03-25
AUTOMATION RES & DESIGN INST OF METALLURGICAL IND
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  • Abstract
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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 fuzzy time-delay state feedback control method for UTDNTTSSs, which can solve the problem of steady-state error caused by the joint action of time delay, fast-changing mode and parameter perturbation that cannot be eliminated by existing time-delay system control methods, and greatly improve UTDNTTSSs control accuracy

Method used

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  • Feedback control method for fuzzy time delay state of uncertainty time-delay two-time scale systems (UTDNTTSSs)
  • Feedback control method for fuzzy time delay state of uncertainty time-delay two-time scale systems (UTDNTTSSs)
  • Feedback control method for fuzzy time delay state of uncertainty time-delay two-time scale systems (UTDNTTSSs)

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Embodiment approach

[0077] Helicopter attitude control system is typical UTDNTTSSs, below the inventive method is applied to the CE150 helicopter attitude control system of Humusoft company, and combines figure 1 and figure 2 , to illustrate its implementation method, the specific process is as follows:

[0078] 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.

[0079] The schematic diagram of CE150 helicopter attitude control structure is as follows: image 3 As shown, the dynamic model of the helicopter is:

[0080]

[0081] 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.

[0082]

[0083]

[0084] in, is the coefficient of friction, m is the mass of the ...

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Abstract

The invention provides a feedback control method for the fuzzy time delay state of uncertainty time-delay two-time scale systems (UTDNTTSSs), and belongs to the technical field of high-precision control of complex systems. According to the method, based on an uncertainty standard disperse fuzzy singular perturbation model, a fuzzy time-delay state feedback controller is designed, and high-precision control over the complex UTDNTTSSs is achieved. Fuzzy logic, a singular perturbation technology and a time delay and uncertainty system theory are fused, the uncertainty standard disperse fuzzy singular perturbation model of the controlled UTDNTTSSs is established, combining with the fuzzy logic and a time-delay system theory, the fuzzy time-delay state feedback controller is designed, a spectral norm and LMIs method is adopted, it is deduced that sufficient conditions exist in the controller, high-precision control simulation is conducted through a CE150 helicopter attitude control system, and the specific implementation process and the effectiveness of the method are shown. The feedback control method for the fuzzy time delay state of the UTDNTTSSs has the advantages of solving the problem that in the existing modeling and control method of the UTDNTTSSs, steady state errors caused by time delay, quick modality and parameter perturbation can not be removed, and the control performance of the UTDNTTSSs is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of complex time-delay system control, and in particular provides a fuzzy time-delay state feedback control method for an uncertain time-delay nonlinear dual-time-scale system, which is suitable for high-speed nonlinear dual-time-scale systems with state time delay. Precision control, such as comprehensive control of thin or ultra-thin hot-rolled strip shape and thickness, attitude control of flexible spacecraft, and position control of flexible arms of fine work robots. Background technique [0002] Time delay often exists in the control process of complex systems, and the research results of reducing or eliminating the influence of time delay on the stability and control performance of complex systems emerge in endlessly, but they mainly focus on conventional nonlinear time-delay systems, and rarely involve the dual time scale problem, and The controller design does not consider the delay problem. Because ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G06F19/00
Inventor 陈金香
Owner AUTOMATION RES & DESIGN INST OF METALLURGICAL IND
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