综合动态性能指标的控制器群切换方案的研究

A Study for Shared Controller Group Switching System Based On Dynamic Performance Assessment

对基于因特网的共享控制系统中控制器群的切换方案进行了研究。分析了共享控制系统中控制器群采用切换控制策略的原因。根据共享控制系统的特点,综合系统动态响应的性能评价指标,设计了共享控制系统各控制器之间的相互切换准则。提出了控制系统最佳综合性能值(IAE指标意义下的)和控制器最佳参数值的获取方法。制定了控制器群切换准则以及控制器的切换控制流程。实验结果表明,我们的方法是有效可行的。

This paper investigated the Controller Group Switching Scheme of the Shared Control System based on the Internet, and an- alyzed the reason of adopting the switching control policy in the Controller Group. According to the characteristic of the Shared Con- trol System and merit rating of system dynamic response, switching standards between controllers of the Shared Control System are designed. The method to get the best combination property value （in the sense of the IAE index）of the control system and its corre- sponding parameters was proposed. A standard of Controller Group Switching and a procedure for controller switching control was for- mulated. Simulation and Experiment results show that our method is feasible.