输出误差约束下冷轧厚控系统的模糊反步控制  

Fuzzy backstepping control strategy for HAGC system with output error constraint

作　　者：王建波 王芳[1] 周超[2] 华长春[3] WANG Jianbo;WANG Fang;ZHOU Chao;HUA Changchun(School of Science,Yanshan University,Qinhuangdao 066004,China;Ocean College,Hebei Agricultural University,Qinhuangdao 066003,China;School of Electrical Engineering,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]燕山大学理学院,河北秦皇岛066004 [2]河北农业大学海洋学院,河北秦皇岛066003 [3]燕山大学电气工程学院,河北秦皇岛066004

出　　处：《中南大学学报（自然科学版）》2022年第4期1259-1272,共14页Journal of Central South University:Science and Technology

基　　金：河北省自然科学基金资助项目(F2020203105);国家自然科学基金资助项目(61503323)。

摘　　要：针对冷带轧机液压厚控(HAGC)系统易受外界扰动且存在测量时延的问题,提出基于障碍Lyapunov函数的模糊反步控制策略。首先,将HAGC系统模型转化为严反馈系统,并将系统中的测量时延转化为输入时延。其次,设计辅助系统补偿系统中的输入时延;利用模糊逻辑系统和干扰观测器分别处理系统的非线性项和未知综合不确定项;为了保证系统的输出误差满足约束条件,引入障碍Lyapunov函数;然后,利用Lyapunov稳定性理论证明系统的半全局一致有界稳定性。最后,通过仿真试验验证所设计控制器的有效性。研究结果表明:所提出的控制策略可实现输出的稳定跟踪,且系统输出误差满足约束条件。Considering the problems that cold rolling mill hydraulic automatic gauge control(HAGC)system is vulnerable to external disturbance and there exists measurement delay in the system,an adaptive fuzzy backstepping control strategy was proposed based on barrier Lyapunov function.Firstly,the dynamic model was transformed into a strict feedback form and the measurement delay was converted into input delay.Secondly,an auxiliary system was developed to compensate for the effect of time delay.Fuzzy logic system and disturbance observer were used to deal with the nonlinear term and unknown compound uncertainty respectively.To ensure output error was within the constraints,barrier Lyapunov function was introduced.Thirdly,based on Lyapunov stability theory,the semi-globally uniformly ultimately boundedness of the closed-loop systems was verified.Finally,the validity of control strategy was verified by simulation.The results show that the proposed control strategy can achieve stable tracking of the output and the output error is within the constraints.

关 键 词：输入时延 冷带轧机 障碍Lyapunov函数 反步控制 干扰观测器 模糊逻辑系统 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]