电液复合系统中的相乘非线性控制

针对机载电液复合控制非线性被控系统,建立了系统的相乘非线性数学模型,提出了基于反馈线性化的在线滚动优化控制方法.系统的相对阶小于系统的阶数,因此通过反馈线性化将非线性被控系统化为一线性子系统和非线性部分,在保持非线性部分零动态渐近稳定的基础上,引入在线滚动优化提高系统的动态响应, 而且未建模动态具有很强的鲁棒性,目标优化函数取控制量的偏差和跟踪误差的偏差的二次型,并且通过状态反馈保持整个系统的稳定性.系统仿真研究表明该控制方法使得系统对不确定因素和外来干扰具有很强的鲁棒性,系统具有更好的动态性能.

Multiplying nonlinear control in electrohydraulic complound system

A multiplying nonlinear model was built to the electro-hydraulic compound control of airborne actuation system. A new approach based on feedback linearization and receding horizon optimization was presented to the system. The relative degree was less than the order of the system, so nonlinear system was transformed into a linear subsystem and a part of nonlinear via feedback linearization. The zero dynamics was researched so that the stability of the control system was guaranteed. On-line adjustment based on receding horizon optimization to the global linear model had strong robustness to unmodelled dynamic as well to enhance dynamic response. A finite-time horizon linear quadratic optimal servo problem was formulated with penalty on time-derivative of the control input as well as the error of trajectory in the performance index. State feedback was employed to keep the whole system stability. Simulation results show that the approach can eliminate uncertainty and disturbance and increase robustness. The system has better dynamic performance.