基于扩张状态观测器的预设性能刨花板施胶流量跟踪控制

Study on a Prescribed Performance Tracking Control for Particleboard Glue Dosing Based on Extended State Observer

针对刨花板施胶流量跟踪过程中执行机构受到干扰及参数摄动影响的问题,提出一种基于扩张状态观测器的预设性能鲁棒动态面控制策略。首先,引入BLF改进的误差转换函数设计预设性能函数将状态跟踪误差限制在一定的范围内,使误差的收敛速度与超调量落在规定的界域内以提高施胶系统的暂态性能。其次,引入扩张状态观测器对系统受到的扰动进行观测,并通过前馈补偿的方式提高系统的稳态性能。在动态面设计的最后步骤中,引入非线性鲁棒项处理观测器未能观测的部分并设计复合控制器实现对施胶流量的跟踪控制。最后,构造Lyapunov函数证明所提方法可以保证系统所有信号的半全局一致最终有界,并通过仿真验证刨花板施胶过程在受到外干扰及内部参数摄动的工况下,所提控制器能够使输出胶量快速准确地跟踪期望信号并保证系统的稳定。

Aiming at the problem that the actuator is affected by disturbance and parameter perturbation in the process of particleboard glue dosing tracking control,a prescribed performance robust dynamic-surface control strategy based on extended state observer is proposed.Firstly,the improved error conversion function BLF is introduced to design the performance function,which sets the tracking error within a range to limit the convergence speed and overshoot of the tracking error,to improve the transient performance of the glue dosing system.Secondly,the extended state observer is introduced to observe the disturbance of the system and compensate them in a feedback loop to improve the steady state performance.In the last step of dynamic surface design,the nonlinear robust term is introduced to deal with the part that cannot be observed and a compound controller is designed to track the glue flow.Finally,the Lyapunov function is constructed to prove that the proposed method can ensure the semi-global uniform final boundedness of all signals of the system,and the simulation results show that the proposed controller can make the glue track the desired signal quickly and accurately and ensure the stability of the system under the condition of disturbance and parameter perturbation in the process.