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提出引入σ校正技术的复合模型参考自适应控制方法,可以克服已知的系统干扰。存在未建模动态和未知干扰时,在任何有界的初始条件下,σ校正复合模型参考自适应控制系统的跟踪误差都是有界的。针对典型的汽包锅炉汽轮机系统的非线性模型,将静态状态反馈精确线性化方法和σ校正复合模型参考自适应控制方法相结合,设计了协调控制器。讨论了静态全状态反馈线性化对多输入多输出系统的干扰抑制能力和对多输入多输出摄动系统的鲁棒线性化问题。介绍了非线性σ校正复合模型参考自适应控制器的设计方法。给出了满足约束条件前提下的模型匹配条件的极点配置设计方法。仿真结果表明,所设计的复合控制系统可以实现良好的解耦控制,鲁棒性和抗干扰能力强。
The composite model reference adaptive control method which introduces σ correction technology is proposed, which can overcome the known system interference. In the presence of unmodeled dynamics and unknown disturbances, the tracking error of the sigma-corrected composite model reference adaptive control system is bounded under any bounded initial conditions. Aiming at the nonlinear model of a typical steam drum boiler steam turbine system, the static controller linear feedback method and the sigma-corrected compound model reference adaptive control method are combined to design a coordinated controller. The interference suppression ability of static full state feedback linearization for multiple input multiple output system and the robust linearization problem for multiple input multiple output perturbation system are discussed. The design method of reference adaptive controller for nonlinear sigma correction compound model is introduced. The design method of the pole configuration of the model is given under the premise of satisfying the constraint conditions. Simulation results show that the designed composite control system can achieve good decoupling control, robustness and anti-interference ability.