未知非线性系统的自耦PD协同控制方法  

Auto-coupling PD Cooperative Control Method for Unknown Nonlinear Systems

作　　者：程启芝 曾喆昭[1] 程婷 王风琴 CHENG Qi-zhi;ZENG Zhe-zhao;CHENG Ting;WANG Feng-qin(School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410076,China)

机构地区：[1]长沙理工大学电气与信息工程学院,湖南长沙410076

出　　处：《控制工程》2022年第8期1437-1442,共6页Control Engineering of China

摘　　要：针对未知非线性系统的控制难题,提出了一种具有全局鲁棒稳定性的自耦PD(ACPD)协同控制新方法。该方法使用了与被控对象模型无关的速度因子来构造ACPD控制器模型及其增益整定规则,不仅有效解决了PD控制增益的整定难题,而且使比例与微分两个不同物理环节紧密耦合在一起形成一个功能各异而目标一致的协同控制核心。理论分析和仿真结果表明了ACPD控制方法的有效性。ACPD控制方法在未知非线性系统控制领域具有重要的理论意义和应用价值。In order to solve the control problem of unknown nonlinear systems,a new method of auto-coupling proportional differential(ACPD) cooperative control with global robust stability is proposed in this paper.In this method,a speed factor independent of the controlled object model is used to construct the ACPD controller model and its gain setting rules,which not only effectively solves the problem of gain setting of PD control,but also makes the two different physical links of proportion and differential closely coupled to form a cooperative control core with different functions and consistent objectives.The theoretical analysis and simulation results show the effectiveness of the ACPD control method.The ACPD control method has important theoretical significance and application value in the field of unknown nonlinear system control.

关 键 词：ACPD控制 速度因子 非线性系统 全局稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]