Nonlinear control method for double-end event triggering

A nonlinear control, event-triggered technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of fuzzy controller design and stability, to ensure stability, ensure smooth communication, reduce conservative effect

Active Publication Date: 2021-06-01
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In view of the above-mentioned deficiencies in the prior art, the non-linear control method triggered by double-ended events provided by the present invention considers that both ends of the observer are constructed with network c

Method used

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  • Nonlinear control method for double-end event triggering
  • Nonlinear control method for double-end event triggering
  • Nonlinear control method for double-end event triggering

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] Such as figure 1 As shown, a nonlinear control method triggered by double-ended events, including the following steps:

[0027] S1. Construct a closed-loop model of a nonlinear networked control system with a double-ended event trigger mechanism;

[0028] S2. Define the Lyapunov function that includes the event trigger information, and use the Lyapunov function to determine the stability condition of the closed-loop model of the nonlinear networked control system;

[0029] S3. Based on the stability condition of the closed-loop model of the nonlinear networked control system, solve the parameter matrix of the observer and the controller of the closed-loop model of the nonlinear networked control system through the linear matrix inequality, and then realize the nonlinear control.

[0030] Such as figure 2 As shown, the closed-loop model of the nonlinear networked control system in step S1 includes a controlled object, a sensor, an observer, a controller, and an actuat...

Embodiment 2

[0235] This embodiment provides a simulation example based on the method in the above-mentioned embodiment 1:

[0236] Such as image 3 As shown, the permanent magnet synchronous motor uses the rotor reference system to convert the feedback current signal, and the mathematical model of the permanent magnet synchronous motor is expressed as follows:

[0237]

[0238]

[0239] In the formula, v m and v n Indicates the voltage in the rotor reference frame, i m and i n Indicates the current in the rotor reference frame, ω s Indicates the motor speed, and refer to Table 1 for other physical parameters.

[0240] In order to simplify the design of the control rate, it is assumed that the m-axis current is zero. Then, using the n-axis current to adjust the electromagnetic torque, the electromagnetic torque can be expressed as follows:

[0241]

[0242] The dynamic equation can be expressed as follows:

[0243]

[0244]

[0245]

[0246] where T L Indicates t...

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Abstract

The invention discloses a nonlinear control method for double-end event triggering. The method comprises the following steps: respectively installing two adaptive event generators in a network channel from a sensor to an observer and a network channel from the observer to a controller, so as to guarantee the communication smoothness of a global network; using an adaptive function related to a current state error to obtain an event triggering threshold value, and using a special time interval division method to unify time-varying delay information of network channels on the two sides of the observer in a framework; providing a non-parallel distribution compensation fuzzy feedback controller based on an observer to ensure the stability of a networked system, supplementing related information of a double-end adaptive event triggering condition in a Lyapunov function, and using a Lyapunov theory analysis method to obtain a stability condition of the system; and under the condition of incomplete precondition matching, developing stable conditions related to membership functions based on linear matrix inequality, and then obtaining parameter matrixes of an observer and a controller in the system.

Description

technical field [0001] The invention belongs to the technical field of event triggering mechanisms in network control systems, and in particular relates to a nonlinear control method triggered by double-terminal events. Background technique [0002] In recent years, due to the popularity of the Internet, the networked control system, which is a combination of traditional control methods and networks, has gradually become one of the main research hotspots in the field of control. Different from the traditional control system structure, the network control system uses network transmission channels instead of complex wired connections to transmit control information and status information to simplify the physical complexity of communication and realize long-distance transmission, which has higher control efficiency and lower cost. maintainance fee. However, when large-scale data transmission occurs, due to the limitation of network equipment load, network congestion may occur ...

Claims

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Application Information

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IPC IPC(8): G05B13/04H04L12/24
CPCG05B13/042H04L41/145
Inventor 赵涛张坤朋佃松宜
Owner SICHUAN UNIV
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