执行器饱和时的SISO系统模型参考自适应控制

Design of model reference adaptive controller of a class of SISO plant with actuator saturation

针对大多数执行器不可避免地会出现饱和现象,尤其是工作范围大、非线性特性严重的被控制对象,提出了一种模型参考自适应设计方法,把输入过饱和部分看作干扰信号,并用可调参数和跟踪误差函数对饱和干扰进行估计,通过参数调节消除饱和现象,针对不同相对阶的系统分别进行讨论,使本方法更具普遍性。仿真结果表明,本方法能够使系统有较好的跟踪能力和抗饱和能力。

Saturation nonlinearity is unavoidable in most actuators, especially the plant with serious nonlinearity and need run in large rang situations. A model reference adaptive compensation scheme is presented to decrease the influence of saturation, the part exceeding the saturation limit of controller＇s output is regarded as the disturbance signal which is estimated by on-line tuning parameter and tracking error, and the disturbance signal can be eliminated by parameter adjusting. A simulation example is given to illustrate the effectiveness of this method.