Based upon the theory of the nonlinear quadric two-person nonzero-sum differential game,the fact that the time-limited mixed H2/H∞ control problem can be turned into the problem of solving the state feedback Nash bal...Based upon the theory of the nonlinear quadric two-person nonzero-sum differential game,the fact that the time-limited mixed H2/H∞ control problem can be turned into the problem of solving the state feedback Nash balance point is mentioned. Upon this,a theorem about the solution of the state feedback control is given,the Lyapunov stabilization of the nonlinear system under this control is proved,too. At the same time,this solution is used to design the nonlinear H2/H∞ guidance law of the relative motion between the missile and the target in three-dimensional(3D) space. By solving two coupled Hamilton-Jacobi partial differential inequalities(HJPDI),a control with more robust stabilities and more robust performances is obtained. With different H∞ performance indexes,the correlative weighting factors of the control are analytically designed. At last,simulations under different robust performance indexes and under different initial conditions and under the cases of intercepting different maneuvering targets are carried out. All results indicate that the designed law is valid.展开更多
针对高超声速飞行器无动力再入过程中具有强耦合、气动参数摄动及不确定性的非线性姿态模型,结合自抗扰控制中的扩张状态观测器(extended state observer,ESO)及非线性状态误差反馈律(nonlinear law state error feedback,NLSEF),分别...针对高超声速飞行器无动力再入过程中具有强耦合、气动参数摄动及不确定性的非线性姿态模型,结合自抗扰控制中的扩张状态观测器(extended state observer,ESO)及非线性状态误差反馈律(nonlinear law state error feedback,NLSEF),分别设计了高超声速飞行器内环和外环自抗扰姿态控制器。将不确定性、耦合及参数摄动等干扰作为"总和干扰"利用扩张状态观测器进行估计并动态反馈补偿,再利用NLSEF抑制补偿残差。自抗扰控制器(active disturbance rejection control,ADRC)设计无需精确的飞行器被控模型,也无需精确的气动参数及摄动界限。仿真结果表明,控制系统能够克服干扰及气动参数大范围摄动的影响,在获取良好的动态品质和跟踪性能的同时,具有较强的鲁棒性。展开更多
针对无称重传感器的直驱式永磁曳引系统起动时易发生倒溜问题,提出一种采用自抗扰的转矩控制策略,用以乘梯舒适性。利用扩张状态观测器与非线性误差反馈理论,设计自抗扰控制器来提升系统的动态响应速度,增强鲁棒性,从而减小电梯起动过...针对无称重传感器的直驱式永磁曳引系统起动时易发生倒溜问题,提出一种采用自抗扰的转矩控制策略,用以乘梯舒适性。利用扩张状态观测器与非线性误差反馈理论,设计自抗扰控制器来提升系统的动态响应速度,增强鲁棒性,从而减小电梯起动过程的倒溜距离和速度。为了选择最优控制参数,针对扩张状态观测器控制增益对系统响应的影响进行研究。另外,基于李雅普诺夫稳定性理论,对控制系统的稳定性进行分析。最后,在11.7 k W永磁曳引电机驱动系统上进行了实验,实验结果验证了该方法的有效性。展开更多
针对外部突加大负载扰动时,传统自抗扰控制策略中扩展状态观测器(ESO)的观测精度差,以及系统噪声对ESO观测精度的影响,提出一种基于卡尔曼滤波器的自抗扰控制策略(KF-ADRC)。通过卡尔曼滤波器观测出的负载转矩进行前馈补偿,以提高大负...针对外部突加大负载扰动时,传统自抗扰控制策略中扩展状态观测器(ESO)的观测精度差,以及系统噪声对ESO观测精度的影响,提出一种基于卡尔曼滤波器的自抗扰控制策略(KF-ADRC)。通过卡尔曼滤波器观测出的负载转矩进行前馈补偿,以提高大负载扰动下ESO观测精度;通过卡尔曼滤波器观测出的转速用作系统闭环反馈,以削弱系统噪声对ESO观测精度的影响。将传统自抗扰中的线性误差状态反馈律替换为非线性误差状态反馈律,以提升系统跟踪和抗扰性能。搭建了400 W PMSM伺服系统驱动平台验证了该控制策略的有效性。展开更多
基金Sponsored by the National Natural Science Foundation of China (Grant No.90716028)
文摘Based upon the theory of the nonlinear quadric two-person nonzero-sum differential game,the fact that the time-limited mixed H2/H∞ control problem can be turned into the problem of solving the state feedback Nash balance point is mentioned. Upon this,a theorem about the solution of the state feedback control is given,the Lyapunov stabilization of the nonlinear system under this control is proved,too. At the same time,this solution is used to design the nonlinear H2/H∞ guidance law of the relative motion between the missile and the target in three-dimensional(3D) space. By solving two coupled Hamilton-Jacobi partial differential inequalities(HJPDI),a control with more robust stabilities and more robust performances is obtained. With different H∞ performance indexes,the correlative weighting factors of the control are analytically designed. At last,simulations under different robust performance indexes and under different initial conditions and under the cases of intercepting different maneuvering targets are carried out. All results indicate that the designed law is valid.
文摘针对高超声速飞行器无动力再入过程中具有强耦合、气动参数摄动及不确定性的非线性姿态模型,结合自抗扰控制中的扩张状态观测器(extended state observer,ESO)及非线性状态误差反馈律(nonlinear law state error feedback,NLSEF),分别设计了高超声速飞行器内环和外环自抗扰姿态控制器。将不确定性、耦合及参数摄动等干扰作为"总和干扰"利用扩张状态观测器进行估计并动态反馈补偿,再利用NLSEF抑制补偿残差。自抗扰控制器(active disturbance rejection control,ADRC)设计无需精确的飞行器被控模型,也无需精确的气动参数及摄动界限。仿真结果表明,控制系统能够克服干扰及气动参数大范围摄动的影响,在获取良好的动态品质和跟踪性能的同时,具有较强的鲁棒性。
文摘针对无称重传感器的直驱式永磁曳引系统起动时易发生倒溜问题,提出一种采用自抗扰的转矩控制策略,用以乘梯舒适性。利用扩张状态观测器与非线性误差反馈理论,设计自抗扰控制器来提升系统的动态响应速度,增强鲁棒性,从而减小电梯起动过程的倒溜距离和速度。为了选择最优控制参数,针对扩张状态观测器控制增益对系统响应的影响进行研究。另外,基于李雅普诺夫稳定性理论,对控制系统的稳定性进行分析。最后,在11.7 k W永磁曳引电机驱动系统上进行了实验,实验结果验证了该方法的有效性。
文摘针对外部突加大负载扰动时,传统自抗扰控制策略中扩展状态观测器(ESO)的观测精度差,以及系统噪声对ESO观测精度的影响,提出一种基于卡尔曼滤波器的自抗扰控制策略(KF-ADRC)。通过卡尔曼滤波器观测出的负载转矩进行前馈补偿,以提高大负载扰动下ESO观测精度;通过卡尔曼滤波器观测出的转速用作系统闭环反馈,以削弱系统噪声对ESO观测精度的影响。将传统自抗扰中的线性误差状态反馈律替换为非线性误差状态反馈律,以提升系统跟踪和抗扰性能。搭建了400 W PMSM伺服系统驱动平台验证了该控制策略的有效性。
