一种自适应吸引律离散时间控制方法.pdfVIP

第31 卷 第9 期 控 制 与 决 策 2016 年 9 月 Vol. 31 No. 9 Control and Decision Sep. 2016 文章编号: 1001-0920 (2016) 09-1546-07 DOI: 10.13195/j.kzyjc.2015.0833 一种自适应吸引律离散时间控制方法 邬玲伟 , 孙明轩 (1. 浙江工业大学信息工程学院，杭州310023；2. 台州学院物理与电子工程学院，浙江台州317000) 摘 要: 针对一类输入输出描述的离散时间系统, 提出一种基于自适应切换增益的吸引律. 该方法能够根据不确定 干扰变化率对闭环系统影响的强弱自动调整切换增益大小, 且可直接反映误差动态特性. 同时, 给出了闭环系统跟踪 误差首次穿越原点所需的最多步数, 并推导出系统绝对吸引层和稳态误差带边界的具体表达式, 用于表征闭环系统 跟踪误差的收敛性能和稳态性能. 数值仿真和电机伺服系统上的实验结果均验证了所提出方法的有效性. 关键词: 离散时间系统；吸引律；抖振；自适应切换增益 中图分类号: TP273 文献标志码: A A discrete-time control method based on adaptive attracting law WU Ling-wei , SUN Ming-xuan (1. College of Information Engineering，Zhejiang University of Technology ，Hangzhou 310023 ，China ；2. College of Physics and Electronic Engineering，Taizhou University ，Taizhou 317000 ，China. Correspondent ：SUN Ming-xuan, E-mail ：mxsun@zjut.edu.cn) Abstract: This paper presents an attracting law approach based on the adaptive switching gain for discrete-time systems with input/output description. This method can automatically tune the switching gain according to the vary speed of closed-loop system uncertainties, and directly presents properties of the error-dynamics. In order to characterize both the convergence performance and steady-state performance, the steps for tracking error to converge to the origin, and the expressions for the range of the steady-state error and the absolute attractive layer are derived. Both numerical simulation and experiment results show the effectiveness of the proposed control method. Keywords: discrete-time systems ；attracting law ；chattering ；adaptive switching gain 0 引引引 言言言