一类非线性系统反馈线性化设计方法研究

【作者】 马国梁；

【导师】 胡维礼； 向峥嵘；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2002， 硕士

【摘要】 本文以典型的多变量非线性系统—MODEL750陀螺仪系统为研究对象，根据其运动机理建立了系统的数学模型，系统地研究了非线性系统的反馈线性化设计问题，主要包括以下内容： (1)对微分几何理论中的状态反馈精确线性化方法及输入输出解耦线性化方法进行了系统的分析比较，将输入输出解耦线性化方法的研究结果推广到一般非线性时变系统，并提出了一般非线性时变系统的相对阶集合概念，阐述了基于函数可控性的逆系统方法与输入输出解耦线性化方法的一致性。 (2)在研究总结了反馈线性化设计方法的基础上，针对MODEL750系统模型进行了分析。采用输入输出解耦线性化方法完成了该多变量非线性系统的反馈线性化设计，在此基础上引入智能PID控制来改善整个控制系统的动态性能并增强了鲁棒性，就跟踪问题对所研究的控制方法进行了仿真研究。 (3)在仿真研究的基础上，将基于输入输出解耦线性化的智能PID控制成功地应用于MODEL750实际系统。 仿真研究和实际应用的结果较为一致，均表明了所研究的控制方法的有效性和可行性。更多还原

【Abstract】 This dissertation systematically studied the problem of feedback linearization design for nonlinear system. A typical multi-variable nonlinear system-MODEL750 gyroscope system is regarded as a controlled plant, and its mathematical model is obtained according its motion. The main results are as follows:(1) State feedback linearization and input-output decoupling linearization of differential geometry are analyzed and compared systematically. Relative-degree set of general nonlinear time-varying system is defined and input-output decoupling linearization is extended to general nonlinear time-varying system. The consistency of inverse system method based on function controllability and input-output decoupling linearization is obtained.(2) The mathematical model of MODEL750 system is analyzed, and feedback linearization design of the multi-variable nonlinear system is realized by input-output decoupling linearization method. Furthermore, the intelligent PID is introduced to improve control performance and robustness. Some simulation examples about tracking problem are given.(3) The intelligent PID based on input-output decoupling linearization is used successfully for practical MODEL750 system.The consistent results of simulation and practical application demonstrate the effectiveness of the proposed method.更多还原