Linear feedback gain dispatcher control method based on complex mode

A gain scheduling control, linear feedback technology, applied in the direction of mechanical oscillation control, non-electric variable control, control/regulation system, etc., to achieve the effect of large utilization

Active Publication Date: 2019-06-18
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0004] The purpose of the present invention is to propose a linear feedback gain scheduling control method based on complex modes, which solves the problem of controller design when the controlled object adopts complex mode representation

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  • Linear feedback gain dispatcher control method based on complex mode
  • Linear feedback gain dispatcher control method based on complex mode
  • Linear feedback gain dispatcher control method based on complex mode

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Embodiment Construction

[0013] The specific implementation will be described below in conjunction with the accompanying drawings.

[0014] The present invention mainly has three steps, as figure 1 As shown, the specific process will be described in detail below:

[0015] S1: Establish the dynamic model of the controlled object, analyze and obtain the complex mode characteristics of the controlled object in the complex space;

[0016] Sub-step S11: establishing a dynamic model of the controlled object;

[0017] The mathematical model of the controlled object is established based on the Hamiltonian principle, and the control equation is as follows

[0018]

[0019] In the formula, δ(N×1, N number of system degrees of freedom) is the system degree of freedom; M(N×N), K(N×N) are mass and stiffness matrices respectively, which are symmetrical matrices; C(N×N) is Sum of damping matrix and gyro matrix. When the damping matrix is ​​ignored, the matrix C is antisymmetric. P(N×1) represents the gyro fo...

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Abstract

The invention provides a linear feedback gain dispatcher control method based on complex mode. The linear feedback gain dispatcher control method comprises the following steps that S1, a dynamical model of a controlled object is established, and complex mode characteristics of the controlled object is acquired; S2, model condensation is conducted on the dynamical model by using a modal truncationmethod, based on a linear riccati equation, a linear feedback controller is designed under a complex space; and S3, the situation of controller saturation is considered, a gain dispatcher controller is designed, and under the condition of guaranteeing closed-loop stability, controller performance is used to the maximum limit. According to the linear feedback gain dispatcher control method based oncomplex mode, the problem of controller design when the controlled object adopts complex modal representation is solved.

Description

technical field [0001] The invention relates to the field of vibration control research, and specifically designs a complex mode-based linear feedback gain scheduling control method. Background technique [0002] The problem of vibration control is one of the ubiquitous problems in many branches of engineering, especially for large flexible structures. When excited by internal or external loads, this type of system produces serious vibration problems, which affect the positioning accuracy, life, fatigue and safety of the system. Therefore, designing an effective controller is one of the important problems faced by engineers. In recent decades, scholars have carried out a lot of research on the vibration control of flexible structures and proposed a variety of control theories, such as direct velocity control, strain feedback control, optimal control, sliding mode control (SMC), independent mode space control and robust control etc. [0003] However, most of the current co...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D19/02
Inventor 王杰李东旭
Owner NAT UNIV OF DEFENSE TECH
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