【作者】 张浩；

【导师】 纪玉德； 周宁； 姚福来；

【作者基本信息】 河北科技大学 ， 电子信息（专业学位）， 2023， 硕士

【摘要】 本文旨在研究二阶系统补偿信号驱动跟踪控制问题,截至目前,还没有学者系统的研究过此类问题。虽然基于采样控制的连续时间系统已经被广泛深入研究,但是对于系统中不确定性因素的计算与补偿而言,现有的文献中都没有考虑,现有的理论分析方法也不能直接用来证明混杂闭环系统的收敛性稳定性,在现有成果的基础上,主要研究成果如下:针对二阶系统中的二阶连续时间非线性不确定系统,设计相应的补偿信号驱动控制器,考虑到不确定性因素的计算与补偿,利用迭代学习控制理论以及通过建立基于特征值和序列的解析方法对系统稳定性进行了理论证明,证明了系统的有界性,对实验室机器人机械臂模型进行了Matlab数值仿真实验,与比例积分微分控制方法(PID)和自抗扰控制方法(ADRC)进行对比,证明了本章中控制方法的有效性和优越性。针对二阶系统中的带扰动的二阶非线性不确定系统,在无扰动二阶非线性不确定系统的基础上,加入一个外部扰动,同时利用在最后一个采样瞬间获得不确定性的真值来补偿当前采样瞬间的不确定性的思想对控制器进行了设计。通过一种新的基于迭代序列和与控制系统相关的矩阵特征值的分析方法来证明了系统的有界性,同时选择实际系统,单连杆机械手系统进行了Matlab数值仿真实验,与不同条件下的PID和ADRC进行对比,证明了本章中控制方法的有效性。针对二阶系统中的二阶非线性不确定系统,在无扰动二阶非线性不确定系统控制器的基础上利用基于固定时间控制理论的控制方法设计了新的控制器,利用李雅普诺夫方法计算出了系统的有界性,证明了整个系统的稳定性,该方法实现了系统的快速收敛和稳定跟踪,对实验室机器人机械臂模型进行了Matlab数值仿真实验,与PID、ADRC以及补偿信号驱动控制方法进行对比,最后仿真结果验证了本章控制策略的可行性。更多还原

【Abstract】 The purpose of this paper is to study the compensation signal driven tracking control problem of second-order system.So far,no scholars have systematically studied this problem.Although continuous time systems based on sampling control have been extensively and deeply studied,the calculation and compensation of uncertain factors in the system have not been considered in the existing literature,and the existing theoretical analysis methods cannot be directly used to prove the convergence stability of hybrid closed-loop systems.Based on the existing achievements,the main research achievements are as follows:Aiming at the second order continuous time nonlinear uncertain system in the second order system,the corresponding compensation signal drive controller is designed.Considering the calculation and compensation of uncertainty factors,the stability of the system is proved theoretically by using the iterative learning control theory and by establishing the analytic method based on eigenvalues and sequences,and the boundness of the system is proved.The Matlab numerical simulation experiment of the robot arm model in the laboratory is carried out,and the comparison with proportional integral differential control method(PID)and active disturbance rejection control method(ADRC)proves the effectiveness and superiority of the control method in this chapter.For the second order nonlinear uncertain system with disturbance in the second order nonlinear uncertain system,an external disturbance is added to the undisturbed second order nonlinear uncertain system,and the controller is designed by using the idea of obtaining the truth value of the uncertainty at the last sampling moment to compensate the uncertainty at the current sampling moment.Through a new analysis method based on the iterative sequence and the matrix eigenvalues related to the control system,the boundedness of the system is proved.At the same time,the actual system,the single link manipulator system is selected to carry out Matlab numerical simulation experiments,and compared with the PID and ADRC under different conditions,the effectiveness of the control method in this chapter is proved.Aiming at the second order nonlinear uncertain system in the second order system,a new controller based on the undisturbed second order nonlinear uncertain system controller is designed by using the control method based on the fixed time control theory.The boundedness of the system is calculated by using Lyapunov method,and the stability of the whole system is proved.This method realizes the rapid convergence and stable tracking of the system.The Matlab numerical simulation experiment is carried out on the robot manipulator model in the laboratory,and the comparison is made with the PID,ADRC and compensation signal drive control methods.Finally,the simulation results verify the feasibility of the control strategy in this chapter.更多还原