Single-speed adaptive proportional-derivative control method

Abstract

The invention discloses a single-speed adaptive proportional-derivative control method which does not rely on a controlled object model for the control difficulty of the non-affine nonlinear uncertainsystem. According to the control method, the system dynamic and internal and external uncertainty are defined as sum disturbance, so that the non-affine nonlinear uncertainty system is transformed into a linear uncertainty system, and then an error dynamic system under the sum disturbance excitation is constructed, and the single-speed adaptive proportional-derivative controller model with the speed factor as the kernel is designed accordingly. Theoretical analysis shows that the closed-loop control system composed of SAPD controller not only has global asymptotic stability and robustness, but also has good anti-disturbance robustness. The invention has wide application value in the fields of electric power, machinery, chemical industry, transportation, aviation and aerospace.

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...

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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 independently weighted and summed), but also cannot accurately understand the mathematical model of the PD control law in a physical sense;

[0004] (2) The mathematical model of the PD control law separates the two links of proportional and differential attributes and treats them independently, which leads to the fact that the two links of proportional and differential are independent of each other in the control process, and thus lack of coordination the scientific idea of ​​control;

[0005] (3) Because of the irrationality of the PD control law model, the tuning of PD parameters has been a major problem in the field of control science and control engineering for more than half a century.

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