执行器速率饱和下的系统归一化及控制性能定量评估  

System normalization and performance assessment under actuator rate saturation

作　　者：袁婕 费树岷[1,2] Yuan Jie;Fei Shumin(Key Laboratory of Measurement and Control of CSE,Ministry of Education,Southeast University,Nanjing 210096,China;School of Automation,Southeast University,Nanjing 210096,China)

机构地区：[1]东南大学复杂工程系统测量与控制教育部重点实验室,南京210096 [2]东南大学自动化学院,南京210096

出　　处：《东南大学学报（自然科学版）》2023年第4期692-701,共10页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金青年科学基金资助项目(62103098).

摘　　要：为解决控制器设计中是否需要对执行器速率饱和影响进行补偿的问题,针对速率饱和现象对控制性能的影响进行了定量分析.基于频域时间尺度变换特性,提出了一阶惯性时延被控对象所在闭环系统在执行器速率饱和下的参数归一化方法,将可变参数由4个简化为1个.采用近似最大灵敏度约束积分增益优化(AMIGO)和Skogestad内模控制(SIMC)2种比例积分微分(PID)整定方法来设计控制器参数.经过仿真和逆归一化处理,得到了在恒定系统超调下执行器临界速率饱和值与系统参数之间的数学模型.分析结果表明:AMIGO-PID和SIMC-PI控制器对应的数学模型的平均精度分别为13.89%和2.17%;在相同系统最大超调下,相较于AMIGO-PID控制器,SMIC-PI控制器对执行器的动作速率要求更低,说明SIMC-PI控制器对于执行器的速率饱和影响具有一定的缓和作用;当实际执行器速率饱和值小于模型估计值时,应对速率饱和的影响进行补偿,反之可忽略其影响以节约设计成本.To solve the problem of whether to compensate actuator rate saturation in controller design,the effect of rate saturation on control performance is quantitatively analyzed.Based on the time scaling in frequency domain,the parameter normalization approach is proposed for the closed-loop system which includes the first-order plus time-delay control plant under actuator rate saturation,reducing the number of variables from four to one.The approximated M-constrained integral gain optimization(AMIGO)and the Skogestad internal model control(SIMC)proportional-integral-derivative(PID)tuning methods are employed to design controller parameters.After simulations and inverse normalizations,the mathematical model of the critical rate limit value regarding system parameters under the fixed system overshoot is carried out.The results indicate that the average accuracy of the mathematical model is 13.89%and 2.17%under AMIGO-PID and SIMC-PI controller,respectively.Under the same system maximum overshoot,the SIMC-PI controller results in a lower requirement of the actuator action speed compared to AMIGO-PID controller,indicating that the SIMC-PI controller can mitigate the effect of actuator rate saturation.When the real actuator rate saturation value is smaller than the estimated value,the rate saturation effects should be compensated;in versa,it can be ignored to save design efforts.

关 键 词：执行器速率饱和 一阶惯性时延系统 性能评估 非线性饱和 归一化 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]