分段线性多开关时间次优控制系统的设计

Design of Time Sub-Optimal Control System with Multi-Linear Switch Plane Control Law

提出一种新的时间次优控制系统的设计方法，利用分段线性近似构造了一个结构比较简单的开关函数，使系统在最大程度上逼近时间最优控制；同时在进入奇异振荡工作状态之前，自动由ＢＢＣ方式切换成线性控制，解决了切换试凑的困难。应用本文方法设计了某水下航行器航深时间次优控制系统并进行了仿真研究，仿真结果表明了本文方法的有效性。

Though it is difficult to apply TOC (Time Optimal Control)law to high-order system,It is desirable to utilize the dynamic characteristics of TOC syStem for certain applications.To design the control system of a underwater navigator, a new method with MLSP(Multi Linear Switch Plane) control law for designing TSOC(Time Sub-Optimal Control) system is proposed in this paper. For the linear s),stem described by eq. (l), M LSP control law is given as eqs. (2) and (3). The new method proposed above has the fOllowing two main advantages:1. The MLSP control law approaches The TOC law, and the approach becomes betteras the number of linear switch plan3s selected fleely by designeT increases;2. Because the switch surface is composed of multi-linear planes, the control law is easily implemented.The simulation results for depth control system of a underwater navigator in section 5 condrms preliminarily the validity of the new method proposed in this paper.