滑模变结构控制在一类复杂温度对象中的应用研究
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摘要
工业生产过程中广泛存在着一类具有时变、非线性、大时延、变参数特性的复杂对象，尝试用不同的控制方法来研究这类对象一直是过程控制界最具挑战的课题之一。滑模变结构控制具有降阶、鲁棒性强、响应快等特点，随着计算机技术的发展和高速切换电路的产生，滑模控制理论目前在控制领域得到了广泛应用，但是在复杂过程控制系统中的应用不多。本文考虑在这类复杂过程对象的控制中引入滑模变结构控制，并着重研究滑模变结构控制在一类复杂温度对象中的应用。
在对复杂温度对象(complex temperature object/CTO)进行滑模控制算法的研究之前，把该类对象的传递函数描述转变为相坐标描述。在这一过程中，主要进行了干扰矩阵的推导。转化结果表明，这类复杂温度控制系统的干扰矩阵形式不满足滑模变结构的匹配条件。这给滑模控制在CTO的直接应用带来了困难。
针对干扰不满足滑模变结构控制的匹配条件的情况，作者提出一种有分布干扰存在情况下的滑模控制的改进算法，为滑模控制应用于不满足干扰匹配条件的对象提供一个新的思路。通过对仿真曲线的分析并与干扰前馈PID控制及模糊控制相比较，可以看出这种新的算法对干扰及参数摄动的鲁棒性强、响应快速且实现简单，尤其适用于工程上在变工况情况下对输出参数变化范围要求较高的系统。
To the circles of control, it is one of the most challenging subjects for us to try different methods on the object with time-varying, nonlinear, badly time delays, varying parameter, which presented in the industrial process. Variable structure control with sliding mode (VSCSM) has the peculiarity such as reduced order, better robustness and quickly response and it has been broadly used in the field of control with the development of computer technology and the produce of high-speed switch circuit, but it is few applied to complex process systems. In this paper, VSCSM method was used to control the complex process object and the application of VSCSM was especially studied.
The description was translated from the transfer function to the phase plane before studying control algorithm of sliding mode on the complex temperature object (CTO) . During this process, disturbance matrix was mainly calculated. The result indicates that the disturbance matrix of the complex temperature object is dissatisfied with the matching condition of variable structure control with sliding mode. It brings difficulty to the directly application of sliding mode control on CTO.
Since the presented disturbance was dissatisfied with the matching condition of VSCSM, an amendable method was proposed to resolve it in this dissertation, which provide a new method for the application of sliding control on the object dissatisfied with disturbance matching condition. According to the analysis of simulation curves and the
contrast between PID controller with disturbance feedforward compensation and fuzzy controller, it can be concluded that the new method of control not only has better robustness to the disturbance and varying parameter, but also has quick response and simple realization applying to the system with strict demand on the range of export parameter under variational condition.
在对复杂温度对象(complex temperature object/CTO)进行滑模控制算法的研究之前，把该类对象的传递函数描述转变为相坐标描述。在这一过程中，主要进行了干扰矩阵的推导。转化结果表明，这类复杂温度控制系统的干扰矩阵形式不满足滑模变结构的匹配条件。这给滑模控制在CTO的直接应用带来了困难。
针对干扰不满足滑模变结构控制的匹配条件的情况，作者提出一种有分布干扰存在情况下的滑模控制的改进算法，为滑模控制应用于不满足干扰匹配条件的对象提供一个新的思路。通过对仿真曲线的分析并与干扰前馈PID控制及模糊控制相比较，可以看出这种新的算法对干扰及参数摄动的鲁棒性强、响应快速且实现简单，尤其适用于工程上在变工况情况下对输出参数变化范围要求较高的系统。
To the circles of control, it is one of the most challenging subjects for us to try different methods on the object with time-varying, nonlinear, badly time delays, varying parameter, which presented in the industrial process. Variable structure control with sliding mode (VSCSM) has the peculiarity such as reduced order, better robustness and quickly response and it has been broadly used in the field of control with the development of computer technology and the produce of high-speed switch circuit, but it is few applied to complex process systems. In this paper, VSCSM method was used to control the complex process object and the application of VSCSM was especially studied.
The description was translated from the transfer function to the phase plane before studying control algorithm of sliding mode on the complex temperature object (CTO) . During this process, disturbance matrix was mainly calculated. The result indicates that the disturbance matrix of the complex temperature object is dissatisfied with the matching condition of variable structure control with sliding mode. It brings difficulty to the directly application of sliding mode control on CTO.
Since the presented disturbance was dissatisfied with the matching condition of VSCSM, an amendable method was proposed to resolve it in this dissertation, which provide a new method for the application of sliding control on the object dissatisfied with disturbance matching condition. According to the analysis of simulation curves and the
contrast between PID controller with disturbance feedforward compensation and fuzzy controller, it can be concluded that the new method of control not only has better robustness to the disturbance and varying parameter, but also has quick response and simple realization applying to the system with strict demand on the range of export parameter under variational condition.
引文
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[3] A. Kojima and Ishjiama. Robust controller designer for delay systems in the Gap-metric. IEEE Trans. Automat. Contr. 1995, Vol. AC-40: 370-374
[4] H. H. Choi and M. J. Chung. Memoryless stablization of uncertain dynamic systems with time varing delayed state and control. Autonatica, 1995 Vol. 31: 1349-1351
[5] W. Wu and Y. S. Chou. Output tracking control of uncertain nonlinear systems with an input time delay. IEEE Proc-Control Theory Appl. 1996 Vol. 143: 309-317
[6] Y. X. Yan, Y. M. Zhang and R. Kovacevic. Functional observer and statefeedback for input time delay systems. Int. J. Contr. 1997, Vol. 66: 604-617
[7] 温香彩 等．滞后线性定常广义不确定系统的变结构控制设计．控制理论及应用，1998，15(1)
[8] 谢胜利 等，时滞控制系统的无时滞变结构控制器．控制理论及应用，1998，15(6)
[9] 应益荣，梁家荣．关于滞后广义系统的变结构控制的一个结果．西北建筑工程学院学报，1999，No．3
[10] 岳东 等．时滞系统变结构控制设计的新方法．控制与决策，1994，99(4)
[11] 高存臣，张新政，刘永清．时滞中立型线性系统的变结构控制．控制理论应用，1999，16(2)
[12] 李建青．一类复杂温度对象变结构控制的应用研究．太原理工大学硕士学
位论文，2002
[13] 马克茂 等，基于逆系统方法的非线性系统变结构控制．1996，28(6)
[14] Lee R S. etal. Controller Design of Multivariable Variable Structure Systemswith Nonlinear Switch-ing Surface. IEE Proceedings-D, 1991, 138(5): 493～499
[15] Yu Shenglu et al. Design of a Global Sliding-mode Controller for a Motor Drive with Bounded Con-trol. Int. J. Control, 1995, 62(5): 1001～1019
[16] Bartoszewicz A. Time-varying Sliding Modes for Second-order Systems. IEE Proceedings-D, 1996, 1 43(5): 455～462
[17] 严卫生等，一类伴随型非线性系统的快速变结构控制，火力与指挥控制，1999，24(4)
[18] 李彦平，周凤歧．大范围时变系统变结构控制．变结构自适应控制理论及其应用论文集．西北工业大学出版社，1991
[19] 黄万伟．时变滑动模态变结构控制理论及应用．西北工业大学博士学位论文，1997年3月
[20] 池毓东，王岩，邵惠鹤．一种时变滑模平面的设计方法．上海交通大学学报，1998，32(6)
[21] 张科．时变线性系统的全程滑模变结构控制研究．宇航学报，1999，20(4)
[22] 陈志梅，张井岗，曾建潮．一种新的模糊滑模控制方法．太原重型机械学院学报，1998，19(3)
[23] Garge S. Stability robustness improvementof direct eigenstructure assignmentbased feedback systems using singularvalue sensitivities. NASA Technical Report, 1989
[24] 欧阳咸泰．一种变结构模糊逻辑控制器设计．电气传动自动化，1997，19(2)
[25] 张天平．自适应模糊控制器的设计与分析．自动化学报，1999，25(3)
[26] 杨涛．自学习模糊变结构控制器设计．同济大学学报，1994，22(1)
[27] 张天平，冯纯伯．基于模糊逻辑的连续滑模控制．控制与决策，1995，10(6)
[28] 于古勋，陈学允．非线性变结构控制理论及在电力系统中的应用．电力系统自动化，1997，21(7)
[29] 杨盐生．不匹配不确定系统的变结构鲁棒控制及应用．交通运输工程学报，2001,1(2)
[30] 王青，张敏．不确定性高阶关联大系统的分散变结构调节器设计．西北工业大学学报，1999，17(1)
[31] 高为柄．变结构控制的理论及设计方法．北京：科学出版社，1998
[32] 姚琼荟，黄继起，吴汉松．变结构控制系统．重庆：重庆大学出版社，1997
[33] 李莹，邹经湘，张新政，张宇羽．第三届全球智能控制与自动化大会论文集，中国合肥，2000，p2987-2990
[34] 王亚慧，郝学军，陈志新．第三届全球智能控制与自动化大会论文集，中国合肥，2000，p3077-3081
[36] 李辉．滑模变结构控制理论与应用研究．上海交通大学博士学位论文，2000
[37] 吴继伟．模糊滑模控制及其应用研究．同济大学硕士学位论文
[38] 赵锡龄，焦云婷．单神经元自适应控制PSD在再热汽温控制中的应用．中国电机工程学报，2001，21(2)
[39] 郑大钟．线性系统理论．北京：清华大学出版社，2001
[40] 李遵基，王东风，靳祁，毛巍．大滞后系统控制算法在再热汽温系统中的应用．华北电力大学学报，1998，25(4)
[41] 吕剑虹，袁震，杨榕等．基于状态变量控制器的再热汽温控制系统．中国电力，2002，35(1)
[42] 张文景，黄郁明，张书谨．大型机组再热汽温调手段研究，热能动力工程．2002，17
[43] G. Bartolini, A. Ferrara. and E. Usai. Chattering avoidance by second-order sliding mode control, IEEE Trans. AC-43, No. 2: 24～29.
1998．
[44] Giorgio Bartolini, Antonella Ferrara, Elio Usai, and Vadim I. Utkin. on multi-input chattering-free second-order sliding mode control. IEEE.2000． Trans.AC-45,No.9:1711-1717．
[45] Ju-Jang Lee. and Yangsheng XU. A new method of switching surface design for multivariable variable struture systems. IEEE 1994． Trans.AC-39, No.2: 414-419．
[46] Vesely.V, Decentralized variable structure control of complex systems,INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE v29 n3 Mar 1998． p311-321
[47] Hebertt Sira-Ramirez,On the sliding mode control of multivariable nonlinear systems,INT.J. CONTROL. Vol.64,No.4,1996
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