电子科技大学学报
電子科技大學學報
전자과기대학학보
JOURNAL OF UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA
2014年
1期
71-75
,共5页
扰动抑制%全状态线性化%内模原理%非线性系统%最优控制
擾動抑製%全狀態線性化%內模原理%非線性繫統%最優控製
우동억제%전상태선성화%내모원리%비선성계통%최우공제
disturbance rejection%full-state linearization%internal-model principle%nonlinear systems%optimal control
运用全状态线性化方法对在外部扰动持续作用下的非线性系统设计了扰动抑制控制器，利用非线性控制项消除开环系统的非线性因素。根据内模原理构造与扰动动态特性相同的内模补偿器，再利用Pontryagin极小值原理对增广系统设计最优调节器，得到非线性的内模扰动抑制控制器，其中的内模补偿控制项抵消了扰动对系统的影响。仿真中使用非线性内模扰动抑制控制器与非线性前馈反馈扰动抑制控制器进行比较，结果证明前者能够消除非线性因素影响且实现无静差扰动抑制。
運用全狀態線性化方法對在外部擾動持續作用下的非線性繫統設計瞭擾動抑製控製器，利用非線性控製項消除開環繫統的非線性因素。根據內模原理構造與擾動動態特性相同的內模補償器，再利用Pontryagin極小值原理對增廣繫統設計最優調節器，得到非線性的內模擾動抑製控製器，其中的內模補償控製項牴消瞭擾動對繫統的影響。倣真中使用非線性內模擾動抑製控製器與非線性前饋反饋擾動抑製控製器進行比較，結果證明前者能夠消除非線性因素影響且實現無靜差擾動抑製。
운용전상태선성화방법대재외부우동지속작용하적비선성계통설계료우동억제공제기，이용비선성공제항소제개배계통적비선성인소。근거내모원리구조여우동동태특성상동적내모보상기，재이용Pontryagin겁소치원리대증엄계통설계최우조절기，득도비선성적내모우동억제공제기，기중적내모보상공제항저소료우동대계통적영향。방진중사용비선성내모우동억제공제기여비선성전궤반궤우동억제공제기진행비교，결과증명전자능구소제비선성인소영향차실현무정차우동억제。
The paper considers the controller design problem of disturbance rejection for nonlinear systems under external persistent disturbance by using the full-state linearization approach. The disturbance rejection controller with nonlinear term is designed, in which the nonlinear control term cancels the open-loop nonlinearity. According to the internal-model principle, the internal-model compensator is constructed which has the same dynamical characteristic with disturbance. The optimal regulator of the augmented system is designed by using Pontryagin minimum principle. Then the nonlinear disturbance rejection controller based on internal model is obtained, in which the internal-model compensation control term cancels the effect produced by disturbance. Comparing with the nonlinear feedforward and feedback disturbance rejection controller, the designed nonlinear internal-model-based disturbance rejection controller can eliminate eliminating the nonlinearity and rejecting disturbance with zero steady-state error.
