非线性时滞系统的自适应控制方法研究_学士学位论文.doc

非线性时滞系统的自适应控制方法研究 摘 要 在工程中有各种各样的被控对象，它们的机理复杂程度和环境条件可能各不相同，但对它们施加控制的目的却是相同的，都是为了使它们的状态或运动轨迹符合某些预定要求，使它们的运行状况满足预定的性能指标。实际应用中的系统往往不能达到理想的线性模型，通常伴有非线性与时间滞后环节，故本文建立了某一带有非线性和时滞项的伺服直流电机数学模型，并将其作为被控对象，给出基于梯度法和Lyapunov稳定性理论的模型参考自适应控制系统的设计过程，结合MATLAB仿真工具，得到了相应的仿真曲线。 本文首先通过直流电机的动态方程建立了电机线性部分的数学模型。然后，借助Simulink模块引入非线性与时间滞后环节构成非线性时滞系统作为被控对象。接下来，基于梯度法和Lyapunov稳定性理论分别设计出MIT-MRAC控制系统和Lyapunov-MRAC控制系统，并将两个系统进行比较分析。最后通过对仿真曲线的分析，验证所提出的控制方法的可行性。 关键词：直流电机；非线性时滞系统；MIT-MRAC；Lyapunov-MRAC Abstract There are all kinds of controlled object in the project，with ious complexity and environmental conditions.But exert control purpose is the same to them to make their status or trajectory accords with some predetermined requirements, and to make their performance to meet scheduled performance indicators.Practical application of the system often cant achieve the ideal linear model,and usually associated with nonlinear and time lag,therefore,this paper established with a nonlinear and time delay of servo dc motor mathematical model as a controlled object.Design process of model reference adaptive control system based on the gradient method and Lyapunov stability theory，combine MTALAB simulation tooland obtain corresponding simulation curves. This article built up Motor mathematical model of the linear part through the dynamic equations of dc machine,firstly.And then introduce the nonlinear and time lag link form nonlinear time-delay system as the controlled object with the help of simulink module.Next,put forward MIT-MRAC control system and Lyapunov-MRAC control system based on the gradient method and Lyapunov theory of stability,then compare the two systems .Through the analysis of the simulation curve confirm the feasibility of the proposed control method. Key Words:D.C.machine;Nonlinear-time-delay system;MIT-MRAC；Lyapunov-MRAC 目 录 1 绪 论 1 1.1课题研究背景及意义 1 1.2自适应控制系统 1 1.2.1 自适应控制的研究概况 1 1.2. 模型参考自适应控制 2 1.3 时滞系统研究概况 3 1.4 典型非线性及其特性 4 1.5 数学准备 5 1.5.1 MIT自适应律 5 1.5.2 Lyapunov稳定性理论 5 1.5.3相平面