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本文在文献的基础上,提出了一种克服系统中含有可测扰动的模型参考自适应控制系统的设计方法。本文基于 POPOV 超稳定理论,利用参考模型的状态代替被控对象的状态综台自适应控制律,避免了在系统中引进微分器、正反馈和辅助信号。这即解决了被控对象状态不可测的问题,又避免了适应律中包含有积分平方项,大大提高了系统的抗噪声能力,并简化了系统的结构。仿真结果表明:能够抑制系统中出现的扰动,使被控对象的输出能较好地跟随参考模型的输出。
Based on the literature, this paper presents a design method to overcome the model reference adaptive control system with measurable disturbance in the system. In this paper, based on the POPOV ultra-stable theory, the state of the reference model is used to replace the state-controlled adaptive control law of the controlled object, avoiding the introduction of differentiator, positive feedback and auxiliary signals in the system. This solves the problem that the state of the controlled object is not measurable, and avoids the inclusion of the integral square term in the law of adaptation, which greatly improves the anti-noise ability of the system and simplifies the structure of the system. The simulation results show that the system can restrain the disturbance in the system and make the output of the controlled object follow the output of the reference model well.