A Regulatory Control Method for Non-Minimum Phase Linear System
A non-minimum phase, linear system technology, applied in the field of control, can solve the problems such as insufficient research on the output regulation control of non-minimum phase linear systems and deterioration of system performance.
Active Publication Date: 2020-11-13
CHONGQING UNIV
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Problems solved by technology
[0002] Although control methods for non-minimum phase linear systems emerge in endlessly, the research on output regulation control for unknown non-minimum phase linear systems is not thorough enough.
This is because, 1) there are uncertain system parameters in an unknown non-minimum phase system, and most of the existing related control methods are based on known system models, which are helpless for unknown systems; 2) the existing research methods for output regulation control Most of them are based on state feedback, but are invalid for systems with unknown states; and 3) Although there are related methods that can realize output feedback control for unknown non-minimum phase linear systems, the system response under output feedback is lower than the system performance under state feedback go bad
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Embodiment 1
[0134] Embodiment 1: the method of the present invention is applied to the vehicle-mounted inverted pendulum model
[0135] Consider the following vehicular inverted pendulum model:
[0136]
[0137] Among them, q is the position of the vehicle, θ is the angle between the pendulum and the vertical plane, u is the control input, and χ(ω)=ω is the constant disturbance added to the actuator. The system parameters can be shown in Table 1.1, where the mass m of the simple pendulum p Uncertain but kept within a certain range, meanwhile, we assume the mass of the vehicle m c A known.
[0138] Table 1.1 Comparison table of vehicle inverted pendulum model parameters
[0139] parameter physical meaning value m c
vehicle quality 0.82kg m p
The mass of a pendulum [0.19, 0.23] kg h the length of the pendulum 0.61m g acceleration of gravity 9.81m / s 2
[0140] Make a linear approximation of equation (1.27) at θ=0, and define ...
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The invention relates to a non-minimum-phase linear system regulation control method. The non-minimum-phase linear system regulation control method comprises the following steps that S1, a non-minimum-phase linear system model is established; S2, a closed-loop auxiliary system of a non-minimum-phase linear system in the step S1 is designed; S3, a controller is arranged to stably control the non-minimum-phase linear system. The non-minimum-phase linear system regulation control method is based on an integral control and high gain control method, proposes an output feedback strategy for an unknown non-minimum-phase linear system, has certain practicability and is effectively applied to a vehicle-mounted inverted pendulum system.
Description
technical field [0001] The invention relates to a control method, in particular to a non-minimum phase linear system regulation control method. Background technique [0002] Although control methods for non-minimum phase linear systems emerge in endlessly, the research on output regulation control for unknown non-minimum phase linear systems is not thorough enough. This is because, 1) there are uncertain system parameters in an unknown non-minimum phase system, and most of the existing related control methods are based on known system models, which are helpless for unknown systems; 2) the existing research methods for output regulation control Most of them are based on state feedback, but are invalid for systems with unknown states; and 3) Although there are related methods that can realize output feedback control for unknown non-minimum phase linear systems, the system response under output feedback is lower than the system performance under state feedback go bad. Conten...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 宋永端黄秀财何鎏赖俊峰谭觅高辉
Owner CHONGQING UNIV