| 引用本文: | 朱波,王新华,蔡开元.双积分系统阶跃响应快速无超调控制: 一种增益切换非线性PD控制[J].控制理论与应用,2009,26(10):1111~1117.[点击复制] |
| ZHU Bo,WANG Xin-hua,CAI Kai-yuan.Fast and nonovershooting control for a double-integral system with step input: nonlinear PD control based on gain-switching[J].Control Theory and Technology,2009,26(10):1111~1117.[点击复制] |
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| 双积分系统阶跃响应快速无超调控制: 一种增益切换非线性PD控制 |
| Fast and nonovershooting control for a double-integral system with step input: nonlinear PD control based on gain-switching |
| 摘要点击 3331 全文点击 2210 投稿时间：2008-05-08 修订日期：2008-12-01 |
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| DOI编号 |
| 2009,26(10):1111-1117 |
| 中文关键词 双积分模型 阶跃响应 快速无超调控制 非线性PD控制 |
| 英文关键词 double-integral model step response fast and nonovershooting control nonlinear PD control |
| 基金项目 国家863计划资助项目(2006AA01Z174); 国家自然科学基金资助项目(60774008). |
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| 中文摘要 |
| 采用标准PD或PID控制器镇定双积分对象时, 系统的阶跃响应必然存在超调; 为此, 设计了一种可以切换增益的非线性PD控制器, 给出了系统阶跃响应无超调的充要条件, 以及减小调节时间的方法. 采用的切换规律是:当误差的幅值大于设定门限时, 设计好的快速PD控制器投入工作, 以加快误差的收敛; 当误差的幅值小于设定门限时, 设计好的强阻尼PD控制器投入工作, 以抑制可能出现的超调. 通过这两个控制器的配合作用, 既能实现阶跃响应无超调, 又能有效减小调节时间. 仿真验证了该结论 |
| 英文摘要 |
| If a standard PD or a PID controller is used to stabilize a double-integral system with step input, a nonovershooting step-response can’t be obtained. A novel nonlinear PD controller with gain-switching is presented to deal with
this problem. The necessary and sufficient condition of the nonovershooting step-response and the methods to reduce the settling time are given. The designed switching action obeys the following rule: when the amplitude of the tracking error is larger than a threshold value, a fast PD controller is employed to accelerate the convergence of the tracking error; otherwise,
a strong-damping PD controller is adopted to restrain the overshoot. The cooperation of the two PD controllers reduces the settling time while rendering a nonovershooting step-response. These theoretical results are confirmed by computer simulations. |