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针对具有执行器饱和的微纳操控系统,提出一种增益调度的抗饱和补偿策略。将饱和程度划分为多个范围,每个范围设计对应的补偿器,再利用线性矩阵不等式的方法进行求解,并根据控制器输出值与补偿器状态值在线自动切换补偿器参数。同时将增益调度策略与超前驱动抗饱和设计结合,提高控制系统的暂态性能。通过稳定性分析,保证了增益调度抗饱和系统达到Lyapunov意义下稳定,且得到比非增益调度法更好的局部性能指标。最后,通过仿真和实时实验,验证了这种抗饱和补偿策略能够有效地减少执行器饱和造成的系统性能损失。
Aiming at the micro-nano control system with actuator saturation, an anti-saturation compensation strategy of gain scheduling is proposed. The degree of saturation is divided into several ranges, each corresponding compensator is designed, and then linear matrix inequality is used to solve the problem. The compensator parameters are automatically switched online according to the controller output value and the compensator status value. At the same time, the gain scheduling strategy is combined with the advanced drive anti-saturation design to improve the transient performance of the control system. Through the stability analysis, it is guaranteed that the gain-scheduling anti-saturation system is stable in the sense of Lyapunov, and the local performance index is better than the non-gain scheduling method. Finally, the simulation and real-time experiments show that this anti-saturation compensation strategy can effectively reduce the system performance loss caused by actuator saturation.