欧拉算子系统柔性变结构控制器设计
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摘要
针对带有不确定参数的模拟信号系统,提出了一种基于Sigmoid函数的饱和变速趋近律方法,设计了欧拉算子柔性变结构控制器。基于欧拉算子采样原理,将模拟信号系统和采样信号系统的变结构控制器设计统一到欧拉算子系统。该柔性变结构控制器在采样频率很高时,其稳定性仍与相应的模拟信号系统保持一致。给出了一个有源电力滤波器仿真实例,比较基于指数趋近律方法设计的变结构控制器,该柔性变结构控制器的抖振幅度较小,基波电流有良好的跟踪补偿。
Aiming at Euler operator system with uncertain parameters,a novel reaching law method,named saturated variable rate reaching law,is proposed based on the sigmoid function,and a flexible variable structure controller is designed based on saturated variable rate reaching law in this paper. By the designed variable structure controller,the analog signal system and sampling signal system can be unified into the Euler operator system based on the principle of Euler operator sampling. When sampling frequency is very high,the flexible variable structure controller can make the stability of the control system be closed to the original analog signal system. A simulation example of active power filter is given to demonstrate the application of the controller. Compared to variable structure controller based on exponential reaching law,the proposed flexible variable structure controller can reduce the chattering,and has a good compensation of fundamental current.
Aiming at Euler operator system with uncertain parameters,a novel reaching law method,named saturated variable rate reaching law,is proposed based on the sigmoid function,and a flexible variable structure controller is designed based on saturated variable rate reaching law in this paper. By the designed variable structure controller,the analog signal system and sampling signal system can be unified into the Euler operator system based on the principle of Euler operator sampling. When sampling frequency is very high,the flexible variable structure controller can make the stability of the control system be closed to the original analog signal system. A simulation example of active power filter is given to demonstrate the application of the controller. Compared to variable structure controller based on exponential reaching law,the proposed flexible variable structure controller can reduce the chattering,and has a good compensation of fundamental current.
引文
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[3]齐虹,林瑞全.基于Delta算子的并联型有源电力滤波器H∞控制器设计[J].电力自动化设备,2011,31(1):37-40.
[4]Won W,Lee K S.Identification of a multivariable Delta operator stochastic state-space model with distributed time delays:application to a rapid thermal processor[J].Computers&Chemical Engineering,2012,40(11):223-230.
[5]王青,张颖昕.基于遗传算法的倒立摆实验系统最优控制器[J].实验室研究与探索,2010,29(5):22-25.
[6]付敏玲,胡天友,杨攀,等.基于模糊控制的光伏能量补偿研究与设计[J].实验室研究与探索,2013,32(12):27-30.
[7]刘云龙.变结构控制策略及在广义系统和δ算子系统中设计研究[D].青岛:中国海洋大学,2012.
[8]Gao W,Wang Y,Homaifa A.Discrete-time variable structure control systems[J].IEEE Transactions on Industrial Electronics,1995,42(2):117-122.
[9]姚琼荟,宋立忠,温洪.离散变结构控制系统的比例-等速-变速控制[J].控制与决策,2000,15(3):329-332.
[10]高存臣,刘云龙,李云艳.不确定离散变结构控制系统的趋近律方法[J].控制理论与应用,2009,26(7):781-785.
[11]刘云龙,高存臣,任启峰,等.水下机器人基于sigmoid函数的软变结构控制[J].电机与控制学报,2012,16(2):90-95.
[12]Liu Y,Gu S,Kao Y,et al.Soft variable structure controller design for constrained systems based on S-class functions[J].Neural Computing and Applications,doi:10.1007/s00521-014-1748-0,2014,
[13]张彩虹,刘云龙,高存臣,等.Delta算子不确定系统的滑模变结构控制[J].控制与决策,2012,27(2):237-242.
[14]刘云龙,韩星海,唐述宏.基于趋近律方法的Delta算子滑模变结构控制系统[J].计算机应用,2013,33(8):2397-2400.
[15]Xia Y,Fu M,Yang H,et al.Robustness sliding mode control for uncertain time-delay systems based on delta operator[J].IEEE Transactions on Industrial Electronics,2009,56(9):3646-3655.
[16]刘金琨.滑模变结构控制MATLAB仿真[M].2版.北京:清华大学出版社,2012.