时滞系统自抗扰滑模控制
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摘要
针对含输入端未知时延的时滞系统,利用坐标变换设计了三阶非线性反馈扩张状态观测器。扩张状态观测器能够同时估计变换后的系统状态和输入端总扰动信号,非线性反馈具有快速收敛性。通过对时延环节的一阶近似,时滞系统被转化为带有未知函数的二阶非线性不确定性系统的输出反馈控制问题。在此基础上,设计基于跟踪微分器和扩张状态观测器的二阶滑模控制器,实现了输出信号的快速精确跟踪。数值仿真结果验证了所提出控制算法的有效性。
Aiming at the time-delay systems with uncertainty,this paper designs a third-order nonlinear feedback extended state observer(ESO) by using the coordinate transformation.The ESO can estimate both the system states and the total disturbance signal,and the nonlinear feedback has fast convergence.By the first-order approximation of the time-delay,the output feedback control problem of the time-delay system is transformed into controlling the second-order nonlinear uncertain system with unknown function.On the basis of the tracking differentiator(TD) and the designed ESO,the second-order sliding mode controller(SMC) is designed to realize the fast and accurate tracking of the output signal.The numerical simulation results verify the effectiveness of the proposed control algorithm.
Aiming at the time-delay systems with uncertainty,this paper designs a third-order nonlinear feedback extended state observer(ESO) by using the coordinate transformation.The ESO can estimate both the system states and the total disturbance signal,and the nonlinear feedback has fast convergence.By the first-order approximation of the time-delay,the output feedback control problem of the time-delay system is transformed into controlling the second-order nonlinear uncertain system with unknown function.On the basis of the tracking differentiator(TD) and the designed ESO,the second-order sliding mode controller(SMC) is designed to realize the fast and accurate tracking of the output signal.The numerical simulation results verify the effectiveness of the proposed control algorithm.
引文
[1]蒋朝辉,李学明,桂卫华.大时滞系统全参数自适应预测控制策略[J].中南大学学报(自然科学版),2012,43(1):200-206.Jiang Zhaohui,Li Xueming,Gui Weihua.Full parameter adaptive predictive control strategy for large time delay system[J].Journal of Central South University(Natural Science Edition),2012,43(1):200-206.
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[12]朱承元,杨涤,李顺利.用户卫星天线跟踪指向自抗扰控制方法[J].北京理工大学学报,2006,26(1):82-86.Zhu Chengyuan,Yang Di,Li Shunli.The user satellite antenna tracking pointing to the active disturbance rejection control method[J].Journal of Beijing Institute of Technology,2006,26(1):82-86.
[13]廉明,韩振宇,富宏亚.自抗扰技术在卫星姿态模拟系统中的应用[J].光学精密工程,2010,18(3):616-622.Lian Ming,Han Zhenyu,Fu Hongya.Active disturbances rejection control technique in the satellite attitude simulation system[J].Journal of Applied Optics and precision engineering,2010,18(3):616-622.
[14]吕伟龙,吴丹,王先逵,等.自抗扰精密跟踪运动控制器的设计[J].清华大学学报(自然科学版),2007,47(2):190-193.LüWeilong,Wu Dan,Wang Xiankui,et al.Design of active disturbance rejection precision tracking motion controller[J].Journal of Tsinghua University(Natural Science Edition),2007,47(2):190-193.
[15]Goforth F J,Zheng Q,Gao Z.A novel practical control approach for rate independent hysteretic systems[J].ISATransactions(S0019-0578),2012,51(3):477-484.
[2]安连祥,马华民,刘永刚,等.基于改进Smith预估器的二阶时滞系统[J].计算机仿真,2011,28(1):198-200.An Lianxiang,Ma Huamin,Liu Yonggang,et al.A 2th order time delay system based on improved fuzzy smith predictor[J].Computer Simulation,2011,28(1):198-200.
[3]周珊珊,董瑞,唐功友.离散时滞系统的最优滑模控制[J].控制与决策,2010,25(2):299-302.Zhou Shanshan,Dong Rui,Tang Gongyou.Optimal sliding mode control for discrete-time systems with timedelay[J].Control and Decision,2010,25(2):299-302.
[4]张伟,佟绍成.模糊输入时滞系统的输出反馈控制及稳定性分析[J].模糊系统与数学,2010,24(5):75-82.Zhang Wei,Tong Shaocheng.Output feedback control and stability analysis of fuzzy systems with time delay[J].Fuzzy Systems and Mathematics,2010,24(5):75-82.
[5]刘彦文,王广雄,綦志刚,等.时滞不确定采样控制系统的鲁棒稳定性[J].控制理论与应用,2013,30(2):238-242.Liu Yanwen,Wang Guangxiong,Qi Zhigang,et al.The theory and application of robust stability of uncertain sampled data control systems with time delay[J].Control Theory and Applications,2013,30(2):238-242.
[6]高存臣,刘振,任启峰.时滞离散系统的非线性准滑模鲁棒控制[J].控制理论与应用,2013,30(1):123-130.Gao Cunchen,Liu Zhen,Ren Qifeng.Petroleum Exploration Bureau.For discrete time-delay systems with nonlinear quasi sliding mode robust control[J].Control theory and applications,2013,30(1):123-130.
[7]韩京清.自抗扰控制技术[J].前沿科学,2007(1):24-31.Han Jingqing.Active disturbance rejection control technique[J].frontier science,2007(1):24-31.
[8]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):13-18.Han Jingqing.From the PID technology to the"auto disturbance rejection control"technology[J].Control Engineering,2002,9(3):13-18.
[9]韩京清.自抗扰控制器及其应用[J].控制与决策,1998(1):19-23.Han Jingqing.Auto disturbance rejection controller and its application in[J].Control And Decision,1998(1):19-23.
[10]刘文江,隋青美,周风余.基于自抗扰控制技术的船舶直线航迹控制器设计[J].山东大学学报(工学版),2010,40(6):48-53.Liu Wenjiang,Sui Qingmei,Zhou Feng Yu.Design of ship linear track controller based on auto disturbance rejection control[J].Journal of Shandong University(Engineering Science Edition),2010,40(6):48-53.
[11]张伟,陈宇中,胡永明.遥控武器站的自抗扰控制[J].国防科技大学学报,2011,33(1):44-46.Zhang Wei,Chen Yuzhong,Hu Yongming.Anti disturbance rejection control of the remote control station[J].Journal of National University of Defense Technology,2011,33(1):44-46.
[12]朱承元,杨涤,李顺利.用户卫星天线跟踪指向自抗扰控制方法[J].北京理工大学学报,2006,26(1):82-86.Zhu Chengyuan,Yang Di,Li Shunli.The user satellite antenna tracking pointing to the active disturbance rejection control method[J].Journal of Beijing Institute of Technology,2006,26(1):82-86.
[13]廉明,韩振宇,富宏亚.自抗扰技术在卫星姿态模拟系统中的应用[J].光学精密工程,2010,18(3):616-622.Lian Ming,Han Zhenyu,Fu Hongya.Active disturbances rejection control technique in the satellite attitude simulation system[J].Journal of Applied Optics and precision engineering,2010,18(3):616-622.
[14]吕伟龙,吴丹,王先逵,等.自抗扰精密跟踪运动控制器的设计[J].清华大学学报(自然科学版),2007,47(2):190-193.LüWeilong,Wu Dan,Wang Xiankui,et al.Design of active disturbance rejection precision tracking motion controller[J].Journal of Tsinghua University(Natural Science Edition),2007,47(2):190-193.
[15]Goforth F J,Zheng Q,Gao Z.A novel practical control approach for rate independent hysteretic systems[J].ISATransactions(S0019-0578),2012,51(3):477-484.