权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

Feedforward and feedback control of distributed-parameter systems based on discretized port-Hamiltonian models

基于离散端口哈密尔顿模型的分布式参数系统的前馈和反馈控制

基本信息

批准号：
260049780
负责人：
Privatdozent Dr.-Ing. Paul Kotyczka, since 9/2017
金额：
--
依托单位：
Lehrstuhl für Regelungstechnik
依托单位国家：
德国
项目类别：
Research Grants
财政年份：
2015
资助国家：
德国
起止时间：
2014-12-31 至 2018-12-31
项目状态：
已结题

来源：
https://gepris.dfg.de/gepris/projekt/260049780?language=en
关键词：
Feedforward feedback control distributed parameter

项目摘要

The goal of the proposed research in the field of systems theory and automatic control is the development of feedforward and feedback control design methods for a class of distributed-parameter systems, based on simple models which result from an energy based spatial discretization. By exploiting the unified, easy to handle model structure which is valid for different types of physical systems, this work represents a contribution to the automation of control design for nonlinear systems, which is still an open field of research.The dynamics of the considered class of systems is governed by systems of partial differential equations which can be written in the energy based port-Hamiltonian form. In terms of control design it is easier to deal with finite-dimensional, lumped-parameter approximation models, expressed as systems of nonlinear ordinary differential equations. The structure preserving spatial discretization yields such models which again have a port-Hamiltonian form. Typical examples for the considered class of systems are fluidic flows in (networks of) pipelines or flexible mechanical structures, as they can be part of modular robotic systems.The lack of a holistic, automatable design procedure, from modeling to trajectory generation and feedback control (not only) for the considered class of systems within the port-Hamiltonian framework motivates the research proposal. There exist a variety of feedforward and feedback control design methods for distributed-parameter systems, also based on the partial differential equations, yet they are often restricted to the linear case or provide system specific solutions.To solve the problems which are formulated in the research proposal concerning the tasks modeling, analysis and control, different methods from linear systems theory and nonlinear control theory will be applied. The tools which are used are, among others, linear controllability and observability measures, methods for the dynamic inversion of nonlinear non-minimumphase systems, also based on optimization, as well as a port-Hamiltonian adaptation of Luenberger's approach for dual observer-based compensator design.Two relevant control tasks which shall be, to a large extent, automatically solved with the help of the intended results are trajectory generation for transients between operation points in nonlinear transmission networks and well-damped trajectory tracking of elastic robot arms.

在系统理论和自动控制领域的拟议研究的目标是一类分布参数系统的前馈和反馈控制设计方法的发展，基于简单的模型，从基于能量的空间离散化的结果。通过利用统一的，易于处理的模型结构，这是有效的不同类型的物理系统，这项工作代表了一个贡献的非线性系统的控制设计的自动化，这仍然是一个开放的研究领域。所考虑的一类系统的动力学是由系统的偏微分方程，可以写在基于能量的端口-哈密顿形式。在控制设计方面，它更容易处理有限维，集中参数近似模型，表示为非线性常微分方程组。保持空间离散化的结构产生这样的模型，它再次具有端口-哈密顿形式。所考虑的一类系统的典型例子是流体流动（网络）管道或灵活的机械结构，因为它们可以是模块化的机器人systems.The缺乏一个整体的，自动化的设计程序，从建模到轨迹生成和反馈控制（不仅）考虑类系统内的端口汉密尔顿框架激励的研究建议。分布参数系统的前馈和反馈控制设计方法有很多种，也都是基于偏微分方程的，但它们往往局限于线性情况或提供系统特定的解，为了解决研究计划中提出的关于任务建模、分析和控制的问题，将应用线性系统理论和非线性控制理论的不同方法。所使用的工具是，除其他外，线性可控性和可观测性措施，非线性非最小相位系统的动态逆方法，也是基于优化，以及Luenberger的方法的端口-Hamilton适应，用于基于双线性补偿器的补偿器设计。在预期结果的帮助下自动解决的是非线性传输网络中操作点之间的瞬变的轨迹生成和弹性机器人臂的良好阻尼轨迹跟踪。