Research on Real-time Control of a Continuous-time System by Discrete-time Variable Structure Control

离散时间变结构控制连续系统实时控制研究

• 批准号: 08455193
• 负责人: FURUTA Katsuhisa
• 金额: $ 4.42万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08455193/
• 关键词: Variable Structure Control; Sliding Mode; Discrete-time System; Sliding Sector; 入力振幅制御; 離散型VSS

1. For the linear system with unknown parameters, it is difficult to design a stable sliding hyper plane even if the structure of the system is known. This research presents an adaptive method to identify a stable sliding hyper plane for a single input and output system.2. When the input and output of the linear system are measurable, it is proposed to design a dynamic compensator for a sliding mode on which the system behaves following the optimal control.3. The input amplitude for the variable structure system can be practically taken a limited value. In this case the set in a state space which can be stabilized by the VSS control law is determined. This research tells that the conventional sliding mode determined by the linear combination of the state variable gives smaller stabilizable set comparing with the one given by the nonlinear function of the state. Especially when the proper choice of the nonlinear function it is found that the whole state space can be stabilizable.4. For … More the applications of the proposed approach, we have developed the computer aided software package and implemented the new algorithms. Using this, many researches on applications have been done.5. The rotating type pendulum with the additional dynamics has been designed and it is stabilized at the upright position. From the experiment it is found that the controlled system is robust in comparing to the conventional linear regulators.6. Instead of the sliding mode, the set inside which the norm of the state is decreasing is defined as the sliding sector. This makes possible to design a VSS control for both continuous and discrete-time systems comprehensively. This sliding sector becomes narrower when the sampling time becomes larger.7. It is employed sector approach for the adaptive discrete-time VSS.8. The VSS control law is designed for both continuous-time and its sampled-data systems based on the quadratic criterion function. The sector is determined by the corresponding Riccati equation. Less

1. 对于参数未知的线性系统，即使系统结构已知，也很难设计出稳定的滑动超平面。针对单输入输出系统，提出了一种自适应识别稳定滑动超平面的方法。当线性系统的输入输出均可测量时，提出了一种滑模动态补偿器的设计方法，使系统的行为遵循最优控制。变结构系统的输入幅值实际上可以取一个有限值。在这种情况下，确定了可以被VSS控制律稳定的状态空间中的集合。研究表明，由状态变量的线性组合确定的传统滑模比由状态的非线性函数确定的滑模具有更小的可稳定化集。特别是当选择适当的非线性函数时，发现整个状态空间是稳定的。为了更好地应用所提出的方法，我们开发了计算机辅助软件包并实现了新算法。在此基础上，进行了大量的应用研究。设计了带有附加动力的旋转式摆锤，使其稳定在直立位置。实验结果表明，与传统的线性调节器相比，该控制系统具有较好的鲁棒性。将状态范数减小的集合定义为滑动扇区，而不是滑模。这使得对连续系统和离散系统的VSS控制设计成为可能。当采样时间变大时，滑动扇区变窄。对自适应离散时间VSS.8采用扇区方法。基于二次准则函数，设计了连续时间系统及其采样数据系统的VSS控制律。扇形由相应的里卡蒂方程确定。少

项目成果

Ken-ichiro Nonaka: "Model Following Control based on an Adaptive Sliding Surface for a Class of Plants with Unmatched Parametric Uncertainties" Proc.of CDC96. 3510-3515 (1996)

Ken-ichiro Nonaka：“针对具有无与伦比的参数不确定性的一类植物的基于自适应滑动表面的模型跟踪控制”Proc.of CDC96。

Yaodong PAN: "Adaptive VSS Controller Based on Sliding Sector" Proc.of IFAC 13th World Congress. Vol.F. 235-240 (1996)

潘耀东：“基于滑动扇区的自适应VSS控制器”IFAC第13届世界大会论文集。

Ken-ichiro Nonaka: "Model Following Control Based on an Adaptive Sliding Surface for a Class of Plants with Unmatched Parametric Uncertainties" Journal of SICE. Vol.32, No.5. 663-671 (1996)

Ken-ichiro Nonaka：“基于自适应滑动面的模型跟踪控制，适用于具有无与伦比的参数不确定性的一类植物”SICE 杂志。

Yaodong PAN: "Adaptive VSS Controller Based on Sliding Sector" Proc.of IFAC 13th World Congress. F. 235-240 (1996)

潘耀东：“基于滑动扇区的自适应VSS控制器”IFAC第13届世界大会论文集。

Ryoji Okabayashi: "Stabilization of Unstable Systems Using Hysteresis-Type VSS Controller" Proc.of IFAC 13th World Congress. Vol.F. 271-276 (1996)

Ryoji Okabayashi：“使用磁滞型 VSS 控制器稳定不稳定系统”Proc.of IFAC 第 13 届世界大会。