迟滞系统的滑模变结构控制算法研究
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摘要
迟滞系统是指一类在往复动力作用下表现出变化的非线性性质的系统,迟滞的存在会极大地影响控制性能,不但会降低控制精度而且有可能使得系统发散。滑模变结构是一类特殊的非线性控制,这种控制策略与其它控制的不同在于系统的“结构”并不固定,而是可以动态改变,可以使得控制具有快速响应、对参数变化及扰动不灵敏、物理实现简单等优点。本论文在前人研究的基础上,对迟滞系统的滑模变结构控制算法进行了较为深入的研究,取得系列研究成果。本文主要完成工作概括如下:
(1)系统的分析了迟滞系统滑模变结构控制系统中的模型选取、控制器设计、控制系统结构设计方法以及收敛性理论等研究现状,分析了迟滞系统滑模变结构控制算法存在的问题和今后的研究方向。
(2)针对普艾迟滞模型,提出一种基于全局滑模原理的跟踪控制器。通过设计迟滞观测器,在控制器直接加入补偿,而不需要建立迟滞的逆补偿,在保证系统状态有限时间收敛的前提下,求取滑模控制量,并给出了控制器满足的条件。
(3)基于一种参数弱时变其上下界已知及带有未知迟滞的不确定系统,采用全局自适应滑模控制,通过自适应方案辨识未知迟滞密度函数及增益。仿真实验表明,该滑模迟滞补偿能有效补偿迟滞特性,具有鲁棒性。
(4)针对一种摩擦迟滞的微分模型-LuGre模型,设计了模糊滑模跟踪控制器。在控制器的设计中,采用模糊规则,根据滑模到达条件对未知的迟滞不确定项进行有效观测,从而消除常规做法的干扰有界项,达到消除抖振。
System with hysteresis is under the action of reciprocating power to show non-linear nature of the changes. The existence of hysteresis will greatly affect the control performance, not only will exhibit undesirable inaccuracies or oscillations and potentially makes the system unstable.Variable structure control is a special class of nonlinear control, whose control structure is not fixed but can be changed in a dynamic process. So it not only shows a rapid response to the parameters’change and disturbance insensitive, but also has the advantage of an easy physical realization, Hence the design method based on the essence of sliding is proposed. Based on the previous research work, further research on sliding-mode control algorithm of system with hysteresis is carried out in this degree thesis. The main work of the thesis is illustrated as follows:
(1)The adoption guidance of hysteresis model, design methods of controllers, architecture strategies of sliding-mode control of systems with hysteresis are surveyed separately, and the existing problems as well as research directions are indicated systematically.
(2) A globe sliding mode control associated with compensating based on hysteresis observer is proposed. Prandtl-Ishlinskii (PI) model is used to model the hysteresis nonlinearity, so the system can be divided into two parts. As the precision parameters of the system’s uncertain part can’t be obtained, the control with hysteresis observer is designed to compensate this nonlinearity.The global stability of the system and tracking a desired trajectory to a certain precision are achieved. Simulation results attained are presented to illustrate and further validate the effectiveness of the proposed control.
(3) Deal with globe adaptive Sliding Mode Control of uncertain Systems with Prandtl-Ishlinskii Hysteresis and Disturbances. By using a Prandtl-Ishlinskii model with play and stop operators and by exploring the properties of this model intuitively and mathematically,As the parameters of the system are changed during a period, the positioning accuracy of the system is limited due to the hysteretic nonlinearity. To compensate this nonlinearity, a globe adaptive sliding mode control associated with compensating is proposed .The global stability of the system and tracking a desired trajectory to a certain precision are achieved. Simulation results attained are presented to illustrate and further validate the effectiveness of the proposed control.
(4)The novel design method of globe fuzzy sliding-mode control is proposed for a kind of friction unknown hystersis systeam. To mitigate the effects of hysteresis without constructing inverse hysteresis nonlinearity, Lugre mode is applied to combine with fuzzy sliding-mode control, the fuzzy rulers are given to observe hysteresis nonlinearities based on the conditions of sliding-mode control reach law. The global stability of system is proved. Simulation result shows it can track a desired trajectory in high precision.
(1)系统的分析了迟滞系统滑模变结构控制系统中的模型选取、控制器设计、控制系统结构设计方法以及收敛性理论等研究现状,分析了迟滞系统滑模变结构控制算法存在的问题和今后的研究方向。
(2)针对普艾迟滞模型,提出一种基于全局滑模原理的跟踪控制器。通过设计迟滞观测器,在控制器直接加入补偿,而不需要建立迟滞的逆补偿,在保证系统状态有限时间收敛的前提下,求取滑模控制量,并给出了控制器满足的条件。
(3)基于一种参数弱时变其上下界已知及带有未知迟滞的不确定系统,采用全局自适应滑模控制,通过自适应方案辨识未知迟滞密度函数及增益。仿真实验表明,该滑模迟滞补偿能有效补偿迟滞特性,具有鲁棒性。
(4)针对一种摩擦迟滞的微分模型-LuGre模型,设计了模糊滑模跟踪控制器。在控制器的设计中,采用模糊规则,根据滑模到达条件对未知的迟滞不确定项进行有效观测,从而消除常规做法的干扰有界项,达到消除抖振。
System with hysteresis is under the action of reciprocating power to show non-linear nature of the changes. The existence of hysteresis will greatly affect the control performance, not only will exhibit undesirable inaccuracies or oscillations and potentially makes the system unstable.Variable structure control is a special class of nonlinear control, whose control structure is not fixed but can be changed in a dynamic process. So it not only shows a rapid response to the parameters’change and disturbance insensitive, but also has the advantage of an easy physical realization, Hence the design method based on the essence of sliding is proposed. Based on the previous research work, further research on sliding-mode control algorithm of system with hysteresis is carried out in this degree thesis. The main work of the thesis is illustrated as follows:
(1)The adoption guidance of hysteresis model, design methods of controllers, architecture strategies of sliding-mode control of systems with hysteresis are surveyed separately, and the existing problems as well as research directions are indicated systematically.
(2) A globe sliding mode control associated with compensating based on hysteresis observer is proposed. Prandtl-Ishlinskii (PI) model is used to model the hysteresis nonlinearity, so the system can be divided into two parts. As the precision parameters of the system’s uncertain part can’t be obtained, the control with hysteresis observer is designed to compensate this nonlinearity.The global stability of the system and tracking a desired trajectory to a certain precision are achieved. Simulation results attained are presented to illustrate and further validate the effectiveness of the proposed control.
(3) Deal with globe adaptive Sliding Mode Control of uncertain Systems with Prandtl-Ishlinskii Hysteresis and Disturbances. By using a Prandtl-Ishlinskii model with play and stop operators and by exploring the properties of this model intuitively and mathematically,As the parameters of the system are changed during a period, the positioning accuracy of the system is limited due to the hysteretic nonlinearity. To compensate this nonlinearity, a globe adaptive sliding mode control associated with compensating is proposed .The global stability of the system and tracking a desired trajectory to a certain precision are achieved. Simulation results attained are presented to illustrate and further validate the effectiveness of the proposed control.
(4)The novel design method of globe fuzzy sliding-mode control is proposed for a kind of friction unknown hystersis systeam. To mitigate the effects of hysteresis without constructing inverse hysteresis nonlinearity, Lugre mode is applied to combine with fuzzy sliding-mode control, the fuzzy rulers are given to observe hysteresis nonlinearities based on the conditions of sliding-mode control reach law. The global stability of system is proved. Simulation result shows it can track a desired trajectory in high precision.
引文
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