摘要
本文针对动力系统提出了直接时域整形的一种面向控制的二项式模型,即由标称模型与整形偏差模型构成.根据动力系统动力学特点、控制性能要求,建立二项式标称模型;动力系统实际性能与标称模型的偏差量,即未建模动态量、内整形量、外扰动量等形成整形偏差模型.二项式控制模型有前馈、反馈、整形量三项输入,相应控制器有两个自由度,前馈实现动力系统控制性能要求,反馈则主动平衡整形偏差量.数值仿真结果表明,本文的二项式控制模型对含纯积分环节、线性与非线性等动力系统都能准确达到控制性能的要求.
This paper presents a new binomial control modeling for loop shaping dynamic systems in time domain directly,which consists of a nominal model and a loop shaping deviation.The nominal model is based on the combination of the system’s dynamics and control performance requirements,ranther than only on the dynamic mechanism.The loop shaping deviation represents the action differences between the real system and the nominal model,including unmodeled dynamics,internal loop shaping,and external disturbances.The feedforward,feedback,and the loop shaping deviation are introduced into the binomil model,resulting in a two-degree-of-freedom controller architecture.The performance requirements are governed by the feedforward,while loop shaping deviation is actively balanced by the feedback.Some simulations show that satisfactory performance can be obtained using this new loop shaping method for integrating processes,non-minimum-phase systems.
作者
刘天云
Liu Tianyun(Department of Hydraulic Engineering,Tsinghua University,Beijing 100084,China;State Key Laboratory of Hydroscience and Engineering,Tsinghua University,Beijing 100084,China)
出处
《动力学与控制学报》
2025年第8期89-96,共8页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(52378350)。
关键词
二项式模型
环路整形
动力系统
二自由度控制器
binomial model
loop shaping
dynamic system
two-degrees-of-freedem controller
