考虑控制饱和的连铸结晶器振动位移系统预设性能控制
作者:
作者单位:

1.河北省工业计算机控制工程重点实验室;2.河北师范大学职业技术学院

作者简介:

通讯作者:

中图分类号:

TP273

基金项目:

国家自然科学(61873226)、河北省自然科学基金重点项目 (F2017203304)。


Prescribed performance control for vibration displacement of continuous casting mold with control saturation
Author:
Affiliation:

Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University

Fund Project:

The National Natural Science Foundation of China(61873226)

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    摘要:

    针对伺服电机驱动的连铸结晶器控制系统执行器输入饱和与状态受限问题,同时考虑系统存在负载扰动、参数摄动等不确定性问题,提出一种基于扩张状态观测器的跟踪误差预设性能反步控制方法。首先,针对执行器输入饱和问题,建立了系统的数学模型;其次,为观测系统时变负载扰动、参数摄动等不确定性,采用一种线性扩张状态观测器进行实时观测并分析了观测器观测误差的收敛性;再次,针对伺服电机电流饱和与跟踪误差预设性能控制问题,通过引入辅助状态变量确保系统跟踪误差限定在允许范围内,设计了基于扩张状态观测器的反步(Backstepping)控制器。最后,根据Lyapunov稳定性理论证明了闭环系统的稳定性,并通过系统仿真验证本文所提方法的有效性。

    Abstract:

    To address the displacement tracking problems of actuator saturation,state constraints,load disturbance and parameter uncertainties for continuous casting mold driven by servo motor, a Backstepping control strategy based on extend state observer (ESO) and full states constraint is designed. Firstly, considering the problem of actuator input saturation, the mathematical model of the system is established. Secondly, a linear extended state observer (ESO) is employed for estimating the load disturbances and parameter uncertainties in real time, and the observer convergence of the observation error is analyzed. Thirdly, the problem of actuator saturation and tracking error states constraint is considered, and an auxiliary state variable is introduced to ensure the presetting range of the tracking error, a Backstepping controller is designed. Finally, the closed-loop system stability is proved by using Lyapunov theorem, and simulations demonstrate the effectiveness of the proposed control method.

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历史
  • 收稿日期:2021-05-27
  • 最后修改日期:2021-12-08
  • 录用日期:2021-12-09
  • 在线发布日期: 2022-01-02
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