输入受限的二阶非仿射非线性不确定系统串级自耦PID控制  

Cascade self-coupling PID control of input-limited second-order nonaffine nonlinear uncertain systems

作　　者：陈河江 李俊丽[1] 王安琪 CHEN Hejiang;LI Junli;WANG Anqi(Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650504,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,云南昆明650504

出　　处：《陕西理工大学学报（自然科学版）》2024年第1期37-46,共10页Journal of Shaanxi University of Technology:Natural Science Edition

基　　金：国家自然科学基金项目(61163051);云南省重点研发计划项目(202002AC080001)。

摘　　要：针对一类输入受限的二阶非仿射非线性不确定系统的控制问题,提出了一种串级自耦PID控制方法。在考虑了系统输入饱和受限的前提下,将二阶系统分为外环广义位移环和内环广义速度环,分别采用自耦PD和自耦PI算法实现串级控制策略。解决了自耦PID控制面对输入信号为阶跃信号时需要设计过渡过程的短板;设计了串级耦合速度因子,并将内外环的可调参数进行了数据拟合,进一步降低了控制器的调参难度,分析并证明了串级自耦PID控制的合理性和稳定性。仿真结果表明,所提控制方法较自耦PID控制不仅响应速度快、鲁棒性更好,而且具有极强的抗干扰能力,在一类二阶非仿射非线性不确定系统的控制领域具有广泛的应用前景。Aiming at the control problem of a class of input-limited second-order nonaffine nonlinear uncertain systems,a cascade self-coupling PID control method is proposed.Under the premise of considering the limited system input saturation,the second-order system is divided into the outer generalized displacement loop and the inner generalized velocity loop,and the self-coupling PD and self-coupling PI algorithms are used to realize the cascade control strategy.It solves the shortcomings of the design transition process when the input signal is a step signal for self-coupling PID control;The cascade self-coupling speed factor is designed,the adjustable parameters of the inner and outer rings are coupled,the difficulty of parameter adjustment is reduced,and the rationality and stability of cascade self-coupling PID control are analyzed and proved.Simulation results show that the proposed control method not only has faster response speed,good robustness,but also has strong anti-interference ability than self-coupling PID.

关 键 词：输入饱和受限 串级自耦PID 过渡过程 串级自耦速度因子 非仿射非线性系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]