【作者】 李青松；

【导师】 左志强；

【作者基本信息】 天津大学 ， 控制科学与工程， 2016， 硕士

【摘要】 事件触发控制是反馈环节达到一定的事先设置的触发条件才进行信息交换的的一种数据传输控协议,它可以在不影响整个控制系统稳定性,保证某方面性能的前提下,减少反馈回路的传输负担。并且可以减少计算机控制量的计算,因此也能减少系统对计算资源的使用。在实际工程中,执行器饱和必然存在,这种非理想因素会影响系统的控制性能,更有甚者会使系统变得不稳定,对系统造成严重的损坏。因此本文研究了系统在受到执行器饱和的情况下事件触发控制系统的稳定性。首先,给出了连续时间系统在执行器饱和的情况下控制器的设计方法。为了使系统有一个较好的二次性能,我们引入了线性二次型最优控制方法设计控制器,给出了系统达到全局稳定和局部稳定的条件和结果。对于事件触发和自触发机制来说,Zeno行为会给触发系统的计算机实现带来困难,在本文中,我们对事件触发和自触发机制下的最小触发时间做了研究,证明了触发条件可以避免Zeno行为。此外,为了获得更大的稳定域,文章中提出了一种再设计的方法,通过数值仿真说明了再设计方法可以起到明显的扩大稳定域的效果。其次,对离散时间事件触发系统在执行器饱和的情况下进行了研究。本章同样对事件触发机制进行了叙述,并且应用两种不同的控制器设计方法对系统进行了研究,两种不同的方法可以在不同的方面获得较好的控制效果。在该部分由于在设计的部分涉及到应用Matlab求可行解时,得到的是一个非凸线性矩阵不等式,因此本文引入了锥补线性化来得到系统的最优解。最后,研究了事件触发机制下的抗饱和机制,以寻求较大的稳定域。首先,给出了动态输出反馈控制器的设计方法,并且在此基础上提出了一种抗饱和补偿器增益的迭代优化求解方法。此外,由于输出反馈的引入需要对触发条件进行适当的修改以避免Zeno行为的发生。我们在原有的触发条件上加入了一个指数收敛项,使得系统的触发次数进一步减少。最终通过例子验证了方法在扩大稳定域上的显著效果。更多还原

【Abstract】 The event-triggered(ET)control is a kind of data transmission protocol to exchange information,when the signal error exceeds a given threshold.It can guarantee the stability and some performance of control systems under the premise of a certain aspect.The main purpose of ET control is to reduce the transmission burden of feedback loop,and reduce the quantity of calculation,namely,the utilization of computing resources.In practical engineering,all physical systems are subject to actuator saturation.Such a non-ideal factor degrades the control performance of the systems,even can make the system unstable and cause severe damage.Therefore,this thesis makes an attempt to study the stability of event-triggered control systems subject to actuator saturation.First,we propose the controller design of continuous-time system with actuator saturation.In order to achieve a better quadratic performance,the linear quadratic(LQ)optimal control method is applied to design the controller.We also derive global and local stability conditions for the ET control systems.For event-triggered and self-triggered(ST)transmission mechanism,Zeno behavior is the obstacle for computer implementation.The minimum triggering time interval for ET and ST control is explicitly given to avoid Zeno behavior.Moreover,to obtain a larger stability region,a re-design method is put forward.According to numerical simulation,we know that the re-design method brings a larger stability region.Second,we study the discrete-time case for event-triggered system in the presence of actuator saturation.The ET control mechanism for discrete-time system is discussed,and two different kinds of controller design methods are investigated.These two methods can achieve good control effect in different aspects.We give a sufficient condition to estimate the stability region with Matlab.The feasible solution is,however,a non-convex linear matrix inequality(LMI),we introduce the cone complementary linearization method to get the optimal solution.Finally,we consider the anti-windup compensation to find a larger stability region.The designing method of dynamic output feedback controller is first given at the beginning.Then an iterative optimization algorithm is proposed to get the anti-windup compensator gain.In addition,due to the introduction of output feedback control method,we make some appropriate changes in the triggering condition to avoid Zeno behavior.An exponential convergence term is added into the original trigger conditions to further reduce the triggering number.The effect in expanding stability region is validated by an example.更多还原