摘要
本文基于MRACS设计理论,从控制器接在滞后环节后的方法入手,利用连续系统从模型取状态和MRACS的新结构方案的设计思想,导出了实用的MRACS的参数自适应算法。系统控制器控制状态取自y_m(k+D)(模型未延迟输出),从而增加了系统控制的快速性。自适应律中所需的状态不是直接取自对象输出,从而减少了输出端扰动对参数适应过程的影响。计算机仿真结果表明该算法是正确的。
Based on the design theory of MRACS and the design idea for continuous MRACS to take states from reference model, the paper presents a design scheme for discrete MRACS with time delay. The control states of controler for system are taken from y_m(k+D) so that the control speed is increased The states needed in adaptive law are not directly from plant output so that on parameter adaptive process is reduced. The computer simulation proves the result of the paper is correct.
关键词
自适应控制
纯滞后
离散系统
adaptive control, time delay, discrete time system.
