附加控制输入反演自适应滑模鲁棒励磁控制
|
摘要
为了提高一类非匹配不确定非线性系统的渐近稳定鲁棒控制能力,简化传统反演自适应变结构控制计算,通过引入变结构附加控制输入量,降低子系统虚拟函数反演设计难度,克服传统反演自适应L2增益控制只能保证外部扰动对状态变量的影响小于干扰抑制系数,而不能实现系统状态变量渐近稳定的不足,且对外部干扰上界没有要求,并给出附加控制输入反演自适应变结构鲁棒控制计算通式.为了验证所提出控制的方法性能,以典型谐波励磁系统为例,对负载突增和单相接地故障两种工作状态进行仿真分析.仿真结果表明,相对于反演自适应L2增益控制方式,励磁系统状态变量渐近稳定能力得到增强,且超调降低、稳定恢复速度加快,对于提高军用电站谐波励磁系统稳定控制能力具有重要意义.
In order to improve the asymptotical stability for a kind of nonlinear systems with unmatched uncertainties and simplify the calculation of back-stepping adaptive sliding mode control, by adopting additional control input, the level of the subsystem virtual function designment difficulty is reduced, the asymptotical stabilisation of the state variables is realized, which can not be resolved using the traditional back-stepping adaptive L2-gain control method while the upper bound of the interference needn't to be considered, and the common formulas of the back-stepping adaptive sliding mode robust control with additional control input(BASMRC-ACI) is deduced. In order to test the performance of the proposed control method, taking the type harmonic excitation system for example, simulation experiments are performed in load increasing and ground fault states. Simulation results show that by the BASMRC-ACI, comparing with the back-stepping adaptive L2-gain control method, the asymptotical stability rate of the excitation system state variables is enhanced,overshoot is reduced and the convergence speed is improved, which is important for enhancing the dynamic stability of the harmonic excitation system.
In order to improve the asymptotical stability for a kind of nonlinear systems with unmatched uncertainties and simplify the calculation of back-stepping adaptive sliding mode control, by adopting additional control input, the level of the subsystem virtual function designment difficulty is reduced, the asymptotical stabilisation of the state variables is realized, which can not be resolved using the traditional back-stepping adaptive L2-gain control method while the upper bound of the interference needn't to be considered, and the common formulas of the back-stepping adaptive sliding mode robust control with additional control input(BASMRC-ACI) is deduced. In order to test the performance of the proposed control method, taking the type harmonic excitation system for example, simulation experiments are performed in load increasing and ground fault states. Simulation results show that by the BASMRC-ACI, comparing with the back-stepping adaptive L2-gain control method, the asymptotical stability rate of the excitation system state variables is enhanced,overshoot is reduced and the convergence speed is improved, which is important for enhancing the dynamic stability of the harmonic excitation system.
引文
[1]谷志锋,朱长青,邵天章.分布式多输入系统的自律鲁棒自适应分散控制[J].控制与决策,2014,29(12):1545-1552.(Gu Z F,Zhu C Q,Shao T Z.Autonomous robust adaptive decentralized control for distributed multi-input system[J].Control and Decision,2014,29(12):1545-1552.)
[2]谷志锋,朱长青,胡树杰,等.机电复合调速系统反演自适应L2增益控制[J].仪器仪表学报,2017,38(10):1723-1730.(Gu Z F,Zhu C Q,Hu S J,et al.Back-stepping adaptive L2 gain control of electromechanical governed system[J].Chinese J of Scientific Instrument,2017,38(10):1723-1730.)
[3]陈龙胜,王琦.一类非仿射非线性不确定系统自适应鲁棒控制[J].控制理论与应用,2015,32(2):256-261.(Chen L S,Wang Q.Adaptive robust control for a class of uncertain non-affine nonlinear system[J].Control Theory&Applications,2015,32(2):256-261.)
[4]Wu P,Wang Q Y,Feng X Y.Automatic train operation based on adaptive terminal sliding mode control[J].Int Jof Automation and Computing,2015,12(5):142-148.
[5]王新枝,夏立,张超.考虑负荷动态模型的船舶电力系统暂态电压稳定分析[J].中南大学学报:自然科学版,2014,45(10):2231-2236.(Wang X Z,Xia L,Zhang C.Transient voltage stability analysis for ship power system considering load dynamic model[J].J of Central South University:Science and Technology,2014,45(10):2231-2236.)
[6]田福庆,李克玉,王珏,等.压电驱动快速反射镜的自适应反演滑模控制[J].强激光与粒子束,2014,26(1):65-69.(Tian F Q,Li K Y,Wang J,et al.Adaptive backstepping sliding mode control of a steering mirror driven by piezoelectric actuator[J].High Power Laser and Particle Beams,2014,26(1):65-69.)
[7]杨永彬,赵贺伟,李涵.基于反演设计的无人水下航行器自适应二阶滑模控制[J].海军工程大学学报,2016,31(5):152-158.(Yang Y B,Zhao H W,Li H.Adaptive second order sliding mode control of UUV based on backstepping design[J].J of Naval Aeronautical and Astronautical University,2016,31(5):152-158.)
[8]田佰军,刘正江,郑云峰.考虑暂态/稳态性能的船舶航向保持控制[J].哈尔滨工程大学学报,2016,37(8):640-645.(Tian B J,Liu Z J,Zheng Y F.Robust course-keeping control for ships with the prescribed transient/steady performance[J].J of Harbin Engineering University,2016,37(8):640-645.)
[9]谷志锋,朱长青,邵天章,等.含K类函数和附加控制量的自适应L2励磁控制[J].控制理论与应用,2016,33(5):257-264.(Gu Z F,Zhu C Q,Shao T Z,et al.Adaptive L2 excitation control with K-class functions and additional control variable[J].Control Theory&Applications,2016,33(5):257-264.)
[10]谷志锋,朱长青,邵天章,等.不确定参数快估反演自适应最优L2增益控制[J].系统工程与电子技术,2016,38(11):1909-1916.(Gu Z F,Zhu C Q,Shao T Z,et al.Back-stepping optimal L2-gain control with rapid adaption of uncertain parameter[J].Systems Engineering and Electronics,2016,38(11):1909-1916.)
[11]余向阳,南海鹏,余娟,等.自适应积分逆推滑模励磁控制研究[J].中国电机工程学报,2009,29(13):74-77.(Yu X Y,Nan H P,Yu J,et al.Adaptive integral backstepping sliding mode generator excitation control[J].Proc of the CSEE,2009,29(13):74-77.)
[12]张翼超,周徐昌,周浩.倾斜转弯鱼雷的分散自适应变结构控制[J].兵工学报,2013,34(14):1469-1473.(Zhang Y C,Zhou X C,Zhou H.Decentralized adaptive variable structure control for bank-to-turn torpedo[J].Acta Armamentarii,2013,34(14):1469-1473.)
[13]米阳,马超,符杨,等.基于滑模观测器的孤岛风柴混合电力系统SVC滑模补偿控制器设计[J].电网技术,2017,41(1):178-186.(Mi Y,Ma C,Fu Y,et al.Design of SVC sliding mode compensation controller in isolated wind-diesel hybrid power system based on sliding mode observer[J].Power System Technology,2017,41(1):178-186.)
[14]Ramzi T,Adel K,Mouhamed F M,et al.Back-stepping control for an induction motor using an adaptive sliding rotor-flux observer[J].Electric Power Systems Research,2012,93:1-15.
[15]谷志锋,朱长青,邵天章,等.独立电力系统非线性鲁棒控制[M].哈尔滨:哈尔滨工业大学出版社,2017:47-57.(Gu Z F,Zhu C Q,Shao T Z,et al.Isolated power system nonlinear robust control[M].Harbin:Harbin Institute of Technology Press,2017:47-57.)
[2]谷志锋,朱长青,胡树杰,等.机电复合调速系统反演自适应L2增益控制[J].仪器仪表学报,2017,38(10):1723-1730.(Gu Z F,Zhu C Q,Hu S J,et al.Back-stepping adaptive L2 gain control of electromechanical governed system[J].Chinese J of Scientific Instrument,2017,38(10):1723-1730.)
[3]陈龙胜,王琦.一类非仿射非线性不确定系统自适应鲁棒控制[J].控制理论与应用,2015,32(2):256-261.(Chen L S,Wang Q.Adaptive robust control for a class of uncertain non-affine nonlinear system[J].Control Theory&Applications,2015,32(2):256-261.)
[4]Wu P,Wang Q Y,Feng X Y.Automatic train operation based on adaptive terminal sliding mode control[J].Int Jof Automation and Computing,2015,12(5):142-148.
[5]王新枝,夏立,张超.考虑负荷动态模型的船舶电力系统暂态电压稳定分析[J].中南大学学报:自然科学版,2014,45(10):2231-2236.(Wang X Z,Xia L,Zhang C.Transient voltage stability analysis for ship power system considering load dynamic model[J].J of Central South University:Science and Technology,2014,45(10):2231-2236.)
[6]田福庆,李克玉,王珏,等.压电驱动快速反射镜的自适应反演滑模控制[J].强激光与粒子束,2014,26(1):65-69.(Tian F Q,Li K Y,Wang J,et al.Adaptive backstepping sliding mode control of a steering mirror driven by piezoelectric actuator[J].High Power Laser and Particle Beams,2014,26(1):65-69.)
[7]杨永彬,赵贺伟,李涵.基于反演设计的无人水下航行器自适应二阶滑模控制[J].海军工程大学学报,2016,31(5):152-158.(Yang Y B,Zhao H W,Li H.Adaptive second order sliding mode control of UUV based on backstepping design[J].J of Naval Aeronautical and Astronautical University,2016,31(5):152-158.)
[8]田佰军,刘正江,郑云峰.考虑暂态/稳态性能的船舶航向保持控制[J].哈尔滨工程大学学报,2016,37(8):640-645.(Tian B J,Liu Z J,Zheng Y F.Robust course-keeping control for ships with the prescribed transient/steady performance[J].J of Harbin Engineering University,2016,37(8):640-645.)
[9]谷志锋,朱长青,邵天章,等.含K类函数和附加控制量的自适应L2励磁控制[J].控制理论与应用,2016,33(5):257-264.(Gu Z F,Zhu C Q,Shao T Z,et al.Adaptive L2 excitation control with K-class functions and additional control variable[J].Control Theory&Applications,2016,33(5):257-264.)
[10]谷志锋,朱长青,邵天章,等.不确定参数快估反演自适应最优L2增益控制[J].系统工程与电子技术,2016,38(11):1909-1916.(Gu Z F,Zhu C Q,Shao T Z,et al.Back-stepping optimal L2-gain control with rapid adaption of uncertain parameter[J].Systems Engineering and Electronics,2016,38(11):1909-1916.)
[11]余向阳,南海鹏,余娟,等.自适应积分逆推滑模励磁控制研究[J].中国电机工程学报,2009,29(13):74-77.(Yu X Y,Nan H P,Yu J,et al.Adaptive integral backstepping sliding mode generator excitation control[J].Proc of the CSEE,2009,29(13):74-77.)
[12]张翼超,周徐昌,周浩.倾斜转弯鱼雷的分散自适应变结构控制[J].兵工学报,2013,34(14):1469-1473.(Zhang Y C,Zhou X C,Zhou H.Decentralized adaptive variable structure control for bank-to-turn torpedo[J].Acta Armamentarii,2013,34(14):1469-1473.)
[13]米阳,马超,符杨,等.基于滑模观测器的孤岛风柴混合电力系统SVC滑模补偿控制器设计[J].电网技术,2017,41(1):178-186.(Mi Y,Ma C,Fu Y,et al.Design of SVC sliding mode compensation controller in isolated wind-diesel hybrid power system based on sliding mode observer[J].Power System Technology,2017,41(1):178-186.)
[14]Ramzi T,Adel K,Mouhamed F M,et al.Back-stepping control for an induction motor using an adaptive sliding rotor-flux observer[J].Electric Power Systems Research,2012,93:1-15.
[15]谷志锋,朱长青,邵天章,等.独立电力系统非线性鲁棒控制[M].哈尔滨:哈尔滨工业大学出版社,2017:47-57.(Gu Z F,Zhu C Q,Shao T Z,et al.Isolated power system nonlinear robust control[M].Harbin:Harbin Institute of Technology Press,2017:47-57.)