摘要
针对具有强耦合、不确定性和非线性的三电机卷绕系统,提出一种基于线性矩阵不等式(linear matrix inequality,LMI)的全局鲁棒控制方法。首先,在三电机卷绕系统的数学模型的基础上给出了一种系统的稳态控制输入和参考速度的计算方法,得到了系统的动态误差模型。接着,考虑到卷绕过程中存在的参数不确定和时变性,引入区间矩阵进行描述,在此基础上,根据Lyapunov稳定性理论得到了使闭环系统鲁棒渐近稳定的LMI充分条件。最后,以实验室搭建的三电机卷绕系统为例进行了仿真和平台实验,实验结果证明了所提出的控制方法的有效性和鲁棒性。
For the multi-motor winding system with strong coupling, uncertainties and nonlinearities, a global robust control strategy based on line.ar matrix inequality （LMI） was proposed. Firstly, a method for computing the equilibrium control inputs and reference speeds based on the mathematic model of the winding system was given, and the variation dynamic model was derived. Then, in order to cope with the uncertain and time-varying parameters existing in the winding system, interval matrix was introduced. Suf- ficient condition of closed-loop winding system robustly asymptotic stability was derived based on Lya- punov stability theory and the resuh was presented in terms of the LMI. Finally,the effectiveness and ro- bustness of the proposed method was validated by some computer simulation and experimental setup ex- periments.
出处
《电机与控制学报》
EI
CSCD
北大核心
2016年第7期111-118,共8页
Electric Machines and Control
基金
国家自然科学基金(61473314
61403425
61321003
61472135)
娄底市科技计划项目(2015KJ012)
湖南省重点建设学科项目
关键词
卷绕系统
线性矩阵不等式
状态反馈
区间变量
鲁棒渐近稳定
winding system
linear matrix inequality （LMI）
state feedback
interval variable
robustlyasymptotic stability
