哈密顿结构修正的控制设计方法及其应用  

Control design method of Hamiltonian structure modified and its application

作　　者：曾云[1] 张立翔[1] 钱晶[2] 郭亚昆[3] 

机构地区：[1]昆明理工大学工程力学系,云南昆明650500 [2]昆明理工大学电力工程学院,云南昆明650500 [3]阿伯丁大学工程学院

出　　处：《电机与控制学报》2014年第3期93-100,共8页Electric Machines and Control

基　　金：国家自然科学基金(51179079);云南省科技厅科学基金(2013FZ015)

摘　　要：哈密顿系统互联和阻尼分配的控制设计中,最主要的困难是获得修正的能量函数。通过分析哈密顿互联和阻尼分配控制设计的思想,提出一种控制律构成方式,即控制律由给定平衡点的镇定控制和附加控制构成,结构和阻尼矩阵修正部分增加的关联因子通过附加控制发挥作用。进而导出了镇定控制的求解方程,附加控制的显式表达式以及闭环系统稳定的条件,给出了设计过程和步骤。以水轮发电机组的哈密顿模型为例,介绍了该控制设计方法的应用。该方法根据结构和阻尼修正矩阵直接求控制,用海森矩阵正定条件确定结构和阻尼修正矩阵中关联因子的取值限制,避开了求取H a(x)的困难。仿真结果表明这一方法简单有效。The main difficulty is to derive the modified energy function Ha （x） in designing the control law for interconnection and damping assignment passivity-based control （IDA-PBC）. A design approach of control law, which could avoid that difficulty, was proposed. A composition mode that control law were composed by stabilization control at given equilibrium point and additional control in IDA-PBC was proposed, in which added relative factors in structure and damping matrix can play a role by additional control item. Furthermore, equation of the stabilization control and was solved explicit expressions of the additional control were derived, and stability conditions of closed loop were derived. Taking Hamihonian model of hydro turbine generating units as example, the application steps of this design method were introduced. This method, in which control can be calculated with modified interconnection and damping matrix directly, and the limit of relative factors are determined by the definite condition of Hessian matrix, is simple and validity.

关 键 词：水轮发电机组 广义哈密顿 镇定控制 附加控制 结构修正 

分 类 号：O231.2[理学—运筹学与控制论] TM761[理学—数学]