Two-speed adaptive proportional-derivative control method

A control method and self-adaptive technology, applied in electric controllers, controllers with specific characteristics, etc., can solve the problem of PD parameter tuning, which plagues the field of control science and control engineering, lacks the scientific idea of ​​collaborative control, and PD control law model. Irrationality and other problems, to achieve good anti-disturbance robust performance, simple structure, good real-time performance

Inactive Publication Date: 2019-01-22
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

Since the principle of PD control is to weight the present (P) and future (change trend D) of the error to form a control signal, although the effective control can be exerted as long as the two gain parameters of the PD controller are reasonably selected, however, the error and The differential of the error is two physical quantities with different attributes. The inventor believes that it is unreasonable to carry out independent weighted summation of the two physical quantities with different attributes to form a PD control law model:
[0003] (1) Not only violates the basic rules of arithmetic operations (physical quantities of different dimensions cannot be independe...

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  • Two-speed adaptive proportional-derivative control method
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Embodiment Construction

[0024] 1. Mapping ideas from non-affine nonlinear uncertain systems to linear uncertain systems

[0025] Suppose a second-order nonlinear uncertain system model is:

[0026]

[0027] Among them, y 1 ,y 2 ∈R is the two states of the system, u∈R is the control input of the system; f(y 1 ,y 2 ,t) and g(y 1 ,y 2 ,t) is an uncertain smooth function of the system, and g(y 1 ,y 2 ,t) is a non-negative function; d is the external disturbance; y is the system output.

[0028] Define the unknown sum perturbation state (also called the expansion state) y 3 for:

[0029] the y 3 =f(y 1 ,y 2 ,t)+d+g(y 1 ,y 2 ,t)u-b 0 u (2)

[0030] Then formula (1) can be rewritten as the following linear uncertain system:

[0031]

[0032] Among them, b 0 ≠0 is a nonlinear uncertain function g(y 1 ,y 2 ,t) is an estimated value (not required to be precise), and it is a constant.

[0033] As long as the sum disturbance is bounded, ie |y 3 |<∞, then many affine or non-affine nonl...

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Abstract

For the control problem of a non-affine nonlinear uncertain system, the invention relates to a two-speed adaptive proportional-derivative (2SAPD) control method independent of a controlled object model. According to the control method in the invention, system dynamics and internal and external uncertainty are defined as total disturbance; therefore, the non-affine nonlinear uncertain system is converted into a linear uncertain system, so that an error dynamics system under total disturbance excitation is constructed; thereby, a two-speed adaptive proportional-derivative control model by takingthe central speed factor as the core is designed; the facts that a closed-loop control system composed of a 2SAPD controller has the global asymptotic stability robustness and the 2SAPD controller also has good anti-disturbance robustness are theoretically analyzed; and the two-speed adaptive proportional-derivative control method in the invention has wide application value in the fields of power, mechanisms, chemical engineering, traffic, aviation, spaceflight and the like.

Description

technical field [0001] Nonlinear uncertain system control, control theory and control engineering. Background technique [0002] For more than half a century, classical control (cybernetics) based on frequency-domain design methods and modern control (model theory) based on time-domain design methods have developed independently, forming their own methodological systems. In the practice of control engineering, the error between the control target and the actual behavior of the controlled object is easy to obtain and can be dealt with appropriately. Therefore, the prototype of the control strategy of "eliminating errors based on errors", that is, PID (Proportional-Integral -Derivative, PID) controllers have been widely used in the field of actual industrial control. For practical control engineering problems, since it is usually difficult to give a "description of internal mechanism", the control strategy given by modern control theory based on mathematical models is difficu...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 曾喆昭
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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