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混合与切换是多模型控制器的两种主要设计方法,混合控制不能及时响应参数突变,切换控制的暂态响应不理想。因此提出了一种新的多模型自适应控制结构。首先利用各模型子集的中心点值代替未知参数值得到最小误差,并与当前参数估计值得到的误差进行比较,判断参数是否发生跳变。若参数没有发生跳变,采用混合控制;若参数发生跳变,则把参数估计值重构为子集的中心点值,控制器就切换到对应的子控制器,及时响应参数变化。最后的仿真结果表明,在参数发生跳变时,该方法的控制效果较混合控制有明显的改善。
Mixing and switching are two main design methods of multi-model controller. Hybrid control can not respond to sudden changes of parameters in time, and the transient response of switching control is not satisfactory. Therefore, a new multi-model adaptive control structure is proposed. Firstly, the minimum error is obtained by using the center value of each model subset instead of the unknown parameter and compared with the error obtained from the estimation of the current parameter to determine whether the parameter jumps or not. If the parameters do not jump, using mixed control; if the parameters jump, then the estimated value of the reconstruction of the sub-set of the central value of the point, the controller switches to the corresponding sub-controller, in time to respond to changes in parameters. The final simulation results show that the control effect of this method is obviously better than the hybrid control when the parameters jump.