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本文对控制对象为K/S(τS+1)、参考输入a+bt、控制约束为|u|≤M的最速控制问题进行了较详细的讨论。控制方式为Bang—Bang控制与线性控制相结合的双模控制。在非线性控制阶段,文中推出了全状态平面最速控制的条件,结合工程实现问题讨论了“开关带”的构成、采样周期的确定等问题。在线性控制阶段,采用最小拍无波纹控制,推出了线性控制规律,采用“压缩法”划定了线性控制区,相应地得出了由Bang—Bang控制到线性控制的转换条件。上述理论分析,经数字仿真验证是正确的。
This paper discusses the steepest control of K / S (τS + 1), reference input a + bt, and control constraint | u | ≤M. Control mode is Bang-Bang control and linear control combined with dual-mode control. In the non-linear control phase, the conditions for the state-of-the-state planar speed control are introduced in this paper. The problems of the composition of the “switch band” and the determination of the sampling period are discussed in combination with the engineering realization. In the linear control stage, the minimum beat non-ripple control is introduced and the linear control law is introduced. The linear control zone is demarcated by the “compression method”, and the conversion condition from Bang-Bang control to linear control is obtained accordingly. The above theoretical analysis, verified by digital simulation is correct.