微纳操控系统的增益调度超前抗饱和控制

Gain Scheduled Dynamic Anti-windup with Anticipatory Activation for Nano-positioning systems

针对具有执行器饱和的微纳操控系统,提出一种增益调度的抗饱和补偿策略。将饱和程度划分为多个范围,每个范围设计对应的补偿器,再利用线性矩阵不等式的方法进行求解,并根据控制器输出值与补偿器状态值在线自动切换补偿器参数。同时将增益调度策略与超前驱动抗饱和设计结合,提高控制系统的暂态性能。通过稳定性分析,保证了增益调度抗饱和系统达到Lyapunov意义下稳定,且得到比非增益调度法更好的局部性能指标。最后,通过仿真和实时实验,验证了这种抗饱和补偿策略能够有效地减少执行器饱和造成的系统性能损失。

This paper presents a gain scheduled dynamic anti-windup compensation strategy for LTI systems with actuator saturation. In the proposed scheme, the saturation nonlinearity is divided into different levels, and the corresponding scheduled anti-windup compensators are designed by using a LMI based synthesis procedure. Furthermore, the switching among the different scheduled anti-windup compensators depends on the output of the controller and the states of compensators. The asymptotic stability of the closed-loop system is analyzed, and a better local L2 performance level can be achieved compared with the non-scheduled design. Based on a nano-positioning stage, the simulation examples and real time experimental results are provided to illustrate the effectiveness of the proposed method.