多变量系统近似模型设计方法

本文介绍了多变量系统近似模型设计方法和相应鲁棒性稳定判据.并在 IBM—PC 微机上,用 FORTRAN 语言实现了计算机的辅助设计.用该方法对大型加热炉控制系统进行鲁棒性设计.结果表明,设计的系统具有稳定鲁棒性和良好的性能鲁棒性.     

多目标函数优化法及其在飞机鲁棒控制系统设计中的应用

本文提出了一种新的适用于控制系统设计的多目标函数优化法,其特点是:将所有目标函数根据控制系统的设计要求进行数学处理,从而将多目标函数优化问题转化为无约束的单目标函数优化问题,然后再将该函数一次优化得到设计参数的值。这一方法能有效地用于鲁棒控制系统的设计,使闭环系统对对象参数的大范围变化具有鲁棒性。本文用这一方法,以C~(?)规范为准则,对某型歼击机的纵向控制增稳系统进行了设计,得到了性能优良、鲁棒性强的飞机控制系统。     

一种用于感应电机的鲁棒变结构观测器

提出一种同时实现感应电机转速和转子电流观测的方法。针对感应机这一多变量耦合非线性时变对象,以Ｌｙａｐｕｎｏｖ稳定判据作为设计基础,通过变结构项的引入来抵消不可知部分,确保Ｌｙａｐｕｎｏｖ稳定判据的条件成立,从而得到原系统的鲁棒非线性观测器。理论分析表明,由于变结构项的引入,保证了所设计的观测器具有收敛性和对参数变动的鲁棒性。感应电机的仿真实验说明了该方法的可行性和良好性能。     

16位微机控制变结构位置伺服系统的研究

本文针对一般数控位置伺服系统,采用变结构滑模控制理论为其控制器提供一种设计方法.在理论分析的基础上,研制了16位微机的变结构位置控制系统.系统实验表明,该控制系统结构简单,鲁棒性强,具有良好的静、动态性能.     

分散控制系统的稳定性频域判据

本文给出一个针对分散型控制系统的稳定性频域判据,这个判据将大系统的稳定性分解 成N个小系统问题进行判别,因而具有很多优点.文中讨论了频域判据的物理意义,并将该判 据应用到分散控制器的增益设定和分散镇定补偿器的设计.最后给出一个数值例子.     

广义分散控制系统的脉冲固定模

本文讨论了广义分散控制系统的脉冲固定模问题,给出了广义分散控制系统没有脉冲固定模的几何与代数判据,并得到了广义分散系统能分散正常化的一个充要条件。     

分散控制系统结构的综合及其工业应用

本文论述了连续工业过程中分散控制结构的综合问题.首先讨论了一般分散控制结构 的可行性问题,并给出了存在相应的分散控制器使闭环系统具有渐近稳定性、终值无偏性及 鲁棒性的结构要求.其次研究了最经济结构的综合问题,提出了获得最少测量、最少控制与 最简单反馈结构的相应算法以及该综合算法的工业应用实例.     

一类通讯受限不确定网络控制系统鲁棒H_∞滤波

针对一类通讯受限的不确定网络控制系统,砑究了鲁棒H∞滤波器设计问题.通过引入两个附加的松弛矩阵使Lyapunov矩阵和系统矩阵得到分离,得到了一个新的具有更低保守性的鲁棒H∞性能判据,并基于该判据设计了系统的鲁棒H∞滤波器.当将其应用于具有凸多面体不确定性的网络控制系统时可以得到和系统不确定性相关联的Lyapunov函数,有效降低了设计的保守性.数值算例验证了所提出算法的可行性和优越性.     

催化裂化反应再生系统的分散鲁棒控制

本文叙述了所开发的催化裂化装置反应再生系统一种分散鲁棒控制策略。讨论的问题是,在过程动力学特性不完全已知的情况下,寻求一分散控制器,使得即使当过程特性发生摄动或存在干扰时,系统均具有令人满意的动态性能。此项开发仅以过程的静态增益阵和一些简单的“在线”整定试验即获得了分散控制器,并改进了 Davison (1978)所提出的控制结构。最后,成功地将该技术应用于一个大型催化裂化生产装置。结果表明,此分散鲁棒控制系统具有满意的动态性能和鲁棒性,使反应器温度的方差与最大偏差分别从1.90℃与9.7℃降为0.91℃与4.0℃。     

1987年中国自动化学会控制理论及其应用年会论文集中部分国家和科学院自然科学基金资助项目论文题录

作者工作单位特征结构配皿能力的一致性参数有容差的鲁棒性补德器的设计交换环上线性系统及应用粗壮特征结构最优调节器设计分散信息结构分析与优化大系统的分散预测控制一类非线性离散系统的分析算法与稳定判据双曲型点控制系统的逼近分布参数脉冲调宽采样控制系统线性奇异系统的最优滤波..线性二次型调节问题的一种实用综合方法自适应DaUin数字控制器递推综合广义预测自校正控制器阶次未知:系统的递推算法和自校正控制一‘_具有降价模型的MRAC系统的餐棒控制器设计‘下实用的自’校正器仿真与实时{控制软件‘包”机器人动态模型参数估…     

INFORMATION STRUCTURE CONSIDERATIONS FOR DECENTRALIZED LARGE‐SCALE SYSTEMS

Decentralized control problems are studied in a differential vector space framework. A new notion called the characteristic subspace, which is described by a set of integral chains in the differential vector space of a system is introduced to describe the information structure of a decentralized control system. New criteria are presented for reconfiguring the information structure under decentralized feedback. The new criteria expose certain intrinsic properties of decentralized control systems.     

Decentralized robust stabilization for large-scale feedforward non-linear systems

In this paper, we consider the decentralized robust stabilization problem for large-scale feedforward non-linear systems, which possess an upper-triangular structure, while in the decentralized control area the commonly studied large-scale feedback non-linear systems possess a lower-triangular structure. Our decentralized robust stabilizer for each subsystem takes a nested saturation feedback, with the saturation levels satisfying a set of equations and inequalities. Global asymptotic stability of the closed-loop large-scale system has been proved, and a simulation example is given.     

Stability of the primal-dual algorithm for congestion control

This paper investigates the stability of the primal-dual algorithm for Internet congestion control in the presence of heterogeneous round-trip communication delays. Based on the geometric analysis of frequency response functions of the congestion control system, some sufficient conditions for the local asymptotic stability of the primal-dual algorithm are established. Compared to the existing references, the main contribution of this paper is that in addition to the new sufficient conditions it also obtains some scalability conditions under which the decentralized stability criteria hold for the primal-dual algorithm.     

Hierarchical inversion‐based output tracking control for uncertain autonomous underwater vehicles using extended Kalman filter

In this study, a hierarchical inversion‐based output tracking controller (HIOTC) is developed for an autonomous underwater vehicle (AUV) subject to random uncertainties (e.g., current disturbances, unmodeled dynamics, and parameter variations) and noises (e.g., process and measurement noises). The proposed HIOTC respectively utilizes a combination of feedforward and feedback controls in a hierarchical structure based on the kinematic and dynamic models of the system. Moreover, to obtain uncontaminated or unavailable states for implementing the proposed control law, the extended Kalman filter (EKF) is employed to estimate the system states. Then, the position outputs, orientation, and velocity of the AUV are reached with guaranteed asymptotic stability. The robustness of the proposed HIOTC is verified through injection of random uncertainties into the system model. The closed‐loop stability of the proposed individual subsystems is respectively guaranteed to have uniformly ultimately bounded (UUB) performance based on the Lyapunov stability criteria. In addition, the asymptotic tracking of the overall system is demonstrated using Barbalat's lemma. Finally, the feasibility and effectiveness of the proposed control scheme are evaluated through computer simulations and it is shown that the overall system achieves good asymptotic tracking performance.     

含非匹配互联项的一类大型互联非线性系统的鲁棒分散控制

本文对带有界扰动的一类含非匹配互联项的大型互联非线性系统进行了分散状态反馈控制设计, 通过子系统状态的线性变换, 得到分散状态反馈控制律. 当状态反馈控制律作用于该系统时, 无扰动的闭环系统是全局渐近稳定的, 当扰动有界时, 系统的状态能够收敛到原点的一个与扰动的界相关的邻域内, 并给出仿真算例说明该结论的可行性和有效性.     

大系统的动态递阶伺服控制

本文针对大系统的伺服控制问题,提出了动态递阶伺服控制这一新的伺服控制方案,给出了动态递阶伺服控制器的结构及动态递阶伺服控制问题可解的条件。研究结果表明,这种伺服控制方案可用来解决有不稳定分散固定模的大系统的伺服控制问题。     

The locally definable property of the product control structure

In this paper, the control structures and control technologies in decentralized discrete event control system are investigated. It shows that if the control structures on two local systems are standard and locally definable, so is the product control structure. Furthermore, a control technology associated with the product control structure is also given     

The robust decentralized control of a general servomechanism problem

The decentralized robust control of a completely general servomechanism problem is considered in this paper. Necessary and sufficient conditions, together with a characterization of all decentralized robust controllers which enables asymptotic tracking to occur, independent of disturbances in the plant and perturbations in the plant parameters, and gains of the system, are obtained. A new type of compensator called a decentralized sercocompensator which is quite distinct from an observer is introduced. It is shown that this compensator, which corresponds to an integral controller in classical control theory, must be used in any decentralized servomechanism problem to assure that the controlled system is stabilizable and achieves robust control; in particular, it is shown that a decentralized robust controller of a general servomechanism problem consists of two devices 1) a decentralized servocompensator and 2) a decentralized stabilizing compensator. It is then shown that, under certain mild conditions, there almost always is a solution to the robust decentralized servomechanism problem for any composite system consisting of a number of subsystems interconnected in any arbitrary manner. This last observation has important implications for process control.     

多关节机器人的分散预测控制*

本文提出一种对多关节机器人进行分散预测控制的方法,这种方法把分散控制的结构优点与预测控制的性能优点结合起来,以提高控制的实时性和鲁棒性。文中研究了这一分散控制的多层结构,并着重讨论了不同分散信息结构下的关连预测策略,最后以仿真实例说明了这种分散预测控制方法的有效性。