一种多执行机构控制系统的出力平衡算法

Load balance algorithm for control system with multiple actuators

对多执行机构的控制系统中各执行机构指令分配与出力平衡进行了详细的论述,针对目前多执行机构控制系统中普遍采用的指令分配算法存在的不足,构建了一种称为"偏置前馈"的快速消除控制系统内部指令扰动的出力平衡算法。该算法通过引入各执行机构的出力偏置量与实际出力系数计算出的物理量作为上游控制器前馈量,以提前改变上游控制器的输出指令,从而快速改变各执行机构的出力并及时抵消出力调整带来的控制系统内部的扰动。从理论上证明了该算法的一致收敛特性。

To improve the demand dispatch algorithm normally adopted by the control system with multiple actuators nowadays,a load balance algorithm named ＂bias feedforward＂ is put forward,which can rapidly clear up the interior demand disturbance.It introduces the bias of actuator and the contribution coefficient to calculate the reference variable,which is then fed to the supervisory controller to adjust its output demand and the contributions of actuators in advance for eliminating the interior disturbance caused by bias regulation.Its convergence is proved theoretically.