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Predetermined performance control method based on preset track

A control method and performance technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as the singularity of the control law, and achieve the effect of high control reliability

Active Publication Date: 2021-02-05
HARBIN INST OF TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to overcome the singularity problem of the control law existing in the existing predetermined performance control method, the present invention proposes a predetermined performance control method based on the preset trajectory for the second-order nonlinear system common in engineering

Method used

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  • Predetermined performance control method based on preset track
  • Predetermined performance control method based on preset track

Examples

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Embodiment

[0070] Here, a certain representative embodiment is introduced to further illustrate the relevant design in the technical solution of the present invention.

[0071] Consider the following van der Pol oscillatory system with disturbances:

[0072]

[0073] in, d(t)=0.1sin10t, x(0)=1.4, It is required to design the control law so that the variable x tracks the reference signal x d (t)=cost, and tracking error e(t)=x(t)-x d (t) Satisfied: the maximum overshoot is not greater than σ=0.1, and the convergence speed of the dynamic process is not slower than e -ct ,c=1, the adjustment time is not greater than T f = 1s, the steady-state error is not greater than ρ ∞ = 0.01.

[0074] According to the design requirements, the performance function is ρ(t)=(ρ 0 -ρ ∞ )e -ct +ρ ∞ , where ρ 0 = 0.5. According to the performance function, the performance envelope is constructed as the area between the curve -δρ(t) and the curve ρ(t), where δ=|e(0)|σ / ρ 0 = 0.08.

[0075] Usi...

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Abstract

The invention discloses a predetermined performance control method based on a preset track. The method comprises the following steps of: 1, defining a control object and a performance requirement; 2,constructing a performance function and a performance envelope of a system; 3, generating an expected error track in the performance envelope; 4, designing a sliding mode control law to enable the actual error to move along the expected error track so as to ensure that the actual error moves in the performance envelope; and step 5, checking the performance of a predetermined performance control law. According to the method of the invention, the common singularity problem of an existing predetermined performance control method is avoided, and a new predetermined performance control method basedon a preset track is provided. Because the singularity problem of the control law brings potential risks to the actual engineering, the method can guarantee that higher control reliability is obtained.

Description

technical field [0001] The invention belongs to the technical field of automatic control and relates to a nonlinear control method, in particular to a predetermined performance control method based on a preset trajectory. Background technique [0002] The so-called predetermined performance control refers to designing a control algorithm for a given controlled object to make the closed-loop system stable and have preset transient performance and steady-state performance, such as making the tracking error e(t) move within a given performance envelope , which satisfies e(t)∈(-δ m ρ(t),δ M ρ(t)), where δ m >0,δ M >0 are two constants, and ρ(t)>0 is a given performance function. The existing scheduled performance control methods include funnel control, scheduled performance control based on nonlinear mapping and scheduled performance control based on barrier Lyapunov function. However, through careful analysis, it is not difficult to find that these predetermined p...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 侯明哲
Owner HARBIN INST OF TECH
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