A Design Methodology for Uncertain, Unstable Plants with Hard Actuator Saturation

具有硬执行器饱和度的不确定、不稳定设备的设计方法

• 批准号: 9713670
• 负责人: Suhada Jayasuriya
• 金额: $ 15万
• 依托单位: Texas A&M Engineering Experiment Station
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1997
• 资助国家: 美国
• 起止时间: 1997-11-01 至 2000-10-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9713670&HistoricalAwards=false
• 关键词: Design; Methodology; Uncertain; Unstable; Plants

The major objectives of this research project are to develop a transparent and practical set of design tools for synthesizing controllers for guaranteeing acceptable performance in uncertain, unstable plants under hard actuator saturation; to develop a methodology that removes the need for integral control and more generically the need for imbedding an internal model inside a control loop for a large class of problems; and to demonstrate the applicability of the developed methodologies on two laboratory systems; one a single flexible link attached to a rigid hub and the other a flexible link driven by a worm gear transmission. In order to achieve the objective of developing a design methodology, first stable, uncertain singleinput single- output (SISO) plants under saturating control is considered. Next, SISO, linear, uncertain plants with poles in the closed left half plane subjected to actuator saturation are enclosed and finally linear, uncertain plants with poles in the right half plane subjected to actuator saturation are investigated. Preliminary results indicate that using local feedback around the saturation nonlinearity such that the closed loop system has an impulse response of one sign allows the system to gracefully come out of a saturation state so that feedback remains active for the most part. Both time domain and frequency domain methods are considered. To demonstrate the feasibility of the proposed design methodology two laboratory scale systems currently available in the PI's lab at Texas A&M University are used. Both systems are fully instrumented to be controlled by a PC. One of the systems has a model linearized about a trajectory characterized by poles on the imaginary axis and the other has a linearized model characterized by poles in the right half plane. The key goal of the demonstration are to let the driving d.c. motors saturate and to compare the performance with a controller design that does not explicitly consider hard saturation.

该研究项目的主要目标是开发一套透明且实用的综合控制器设计工具，以保证在执行器硬饱和条件下不确定、不稳定的对象中具有可接受的性能；开发一种方法，消除对积分控制的需要，更一般地消除对一大类问题的控制循环内嵌入内部模型的需要；并证明所开发的方法在两个实验室系统上的适用性；一个是连接到刚性轮毂的单个柔性连杆，另一个是由蜗轮传动装置驱动的柔性连杆。为了实现开发设计方法的目标，首先考虑饱和控制下的稳定、不确定的单输入单输出（SISO）设备。 接下来，封闭 SISO、极点位于闭合左半平面并受到执行器饱和影响的线性、不确定设备，最后研究极点位于右半平面、遭受执行器饱和的线性、不确定设备。 初步结果表明，在饱和非线性附近使用局部反馈，使闭环系统具有一个符号的脉冲响应，使系统能够优雅地摆脱饱和状态，从而使反馈在大部分情况下保持活动状态。时域和频域方法都被考虑。为了证明所提出的设计方法的可行性，使用了德克萨斯 A&M 大学 PI 实验室目前可用的两个实验室规模系统。两个系统均配备齐全，可通过 PC 进行控制。其中一个系统具有关于以虚轴上的极点为特征的轨迹的线性化模型，另一个系统具有以右半平面上的极点为特征的线性化模型。演示的主要目标是让驾驶直流电。电机饱和，并将性能与未​​明确考虑硬饱和的控制器设计进行比较。