【摘要】 针对一类多变量、强耦合、非线性系统,在平衡点附近控制这类系统时,利用泰勒展开将系统线性化处理;然后采用逆解耦技术对系统的线性部分进行解耦,将系统变为弱耦合系统;最后将PID控制器与梯度下降法结合,设计PIDN控制器对系统进行自适应解耦抗扰控制。利用Lyapunov函数给出了控制系统稳定性条件。实验仿真验证了控制算法的有效性。更多还原

【Abstract】 Regarding the system boasting of the multivariable,strong coupling and nonlinearity,the Talor’s formula was adopted to linearize these systems at first when they were controlled nearby the equilibrium point;then having inverse decoupling method employed to decouple linear part of the system so as to turn the system to a weak coupling system; finally,having PID controller combined with gradient descent method to design a PIDN controller and implement adaptive decoupling and disturbance rejection control of the system. Through making use of the Lyapunov function,the stability condition of the control system was presented. Experimental simulation verifies the effectiveness of the control algorithm.更多还原