摘要
以伺服电机驱动的连铸结晶器振动位移系统为研究对象,针对系统输入和状态受限问题,考虑系统存在的参数不确定性和负载转矩扰动影响,设计一种基于观测器的预设性能自适应控制器.首先,针对系统存在的参数不确定性、负载转矩扰动等问题,基于Lyapunov函数设计变增益扩张状态观测器,在保证观测精度的同时,削弱峰值现象;其次,考虑状态和输入受限的情况,将预设性能函数与Backstepping技术相结合设计控制器,构建指令滤波器解决"计算膨胀"问题,引入动态补偿量对观测器及受限状态产生的误差进行补偿,并对所设计的控制器进行稳定性分析;最后,通过仿真对比实验验证控制器的有效性.
With the continuous casting mold vibration displacement system driven by a servo motor as the research object, in view of the constrained input and states, the system parameter uncertainties and the load torque disturbance, an observer-based adaptive prescribed performance controller is proposed. Firstly, as to the parameter uncertainties and the load torque disturbance, an extended state observer with time-varying gain is designed based on the Lyapunov function,which can preserve the estimation accuracy as well as weakening the peaking phenomenon. The controller is designed by combining the prescribed performance function and the adaptive backstepping technique. Take into account the issue of states and input constraints, the constrained command filters are adopted to solve the problem of "computing inflation". A dynamic compensator is introduced to compensate the error caused by the observer and constrained states,and the stability of the controller is analyzed. Finally, the simulation results show the effectiveness of proposed control scheme.
作者
李强
方一鸣
李建雄
马壮
LI Qiang;FANG Yi-mmg;LI Jian-xiong;MA Zhuang(Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao066004,China;National Engineering Research Center for Equipment and Technology of Cold Strip Rolling,Yanshan University,Qinhuangdao 066004,China)
出处
《控制与决策》
EI
CSCD
北大核心
2019年第3期661-667,共7页
Control and Decision
基金
国家自然科学基金项目(61873226)
河北省自然科学基金项目(F2017203304
F2015203400)
河北省人才工程培养经费科研项目(A2016015002)
河北省高等学校科学技术研究青年基金项目(QN2016122)
关键词
连铸结晶器
振动位移系统
预设性能
状态观测
反步控制
continuous casting mold
vibration displacement
prescribed performance
extended states observer
backstepping control
