【作者】 王宇楠； 李东海； 老大中； 徐益；

【Author】 WANG Yu-Nan~1,LI Dong-Hai~2,LAO Da-Zhong~1,XU Yi~1 (1.School of Astronautics,Beijing Institute of Technology,Beijing 100081,China; 2.State Key Lab of Power Systems,Dept of Thermal Engineering,Tsinghua University,Beijing 100084, China)

【机构】 北京理工大学宇航学院； 电力系统国家重点实验室清华大学热能系；

【摘要】 针对输出量一阶导数可测的二输入二输出(TITO)系统设计控制器。利用可测量的比例、积分、微分的非线性组合构成控制律,通过积分环节实现对系统的不可测和扰动部分进行补偿,提出一种广义非线性PID控制器。为改善参数整定实验中仿真对象是典型模型而有失一般性的情况,通过引入泰勒展开式,由仿射非线性系统标准型建立一种普适仿真模型。基于蒙特卡罗随机实验,考察系统超调量和时间乘误差绝对值积分(ITAE)指标,研究控制器参数对系统性能鲁棒性的影响,总结参数整定规律。更多还原

【Abstract】 Controller is designed for two-input two-output system(TITO) characterized by the first derivative of the output being measurable.The control law is derived from the nonlinear combiner of the proportion integral and derivative of the measured output. Non-measurable part and the disturbance of the system can be compensated by the integrating unit.A generalized nonlinear PID controller is then proposed.To expanding the simulation models to generalized models,based on Taylor expansion principle the generalized simulation models are obtained according to the canonical form of affine nonlinear systems.By Monte-Carlo random experiments and tests,the system overshoot and index of ITAE are received.The influence of controller parameters to control system robustness is investigated and then the tuning law of controller parameters is deduced.更多还原