Advanced控制理论

参考：DR_CAN

相关阅读：

• 动态系统的建模与分析
• 自动控制原理
• Advanced控制理论
• 傅里叶级数与变换
• 工程数学

本文 pdf 及Matlab仿真下载链接：

链接：https://pan.baidu.com/s/1DKWTOAMI8eGYpuGR-eWYSg
提取码：6666

1.介绍

目标：让咖啡温度保持在95度

其他因素也会影响系统的输出，如：

$\surd$	$M_w$:水的质量
$\surd$	$C{p}_w$:水比热
$\times$	$T_a$:空气温度
$\times$	$V_a$:空气流动速度
$\times$	$\epsilon$:传热效率

  当系统中所有的量都已知时，一定有一种方法来调节开关，使得系统的输出稳定在一个固定值上。但是空气温度、空气流动速度和传热效率都难以测得。引入一个反馈系统（Feedback System）能很好的解决这个问题，引入新的变量:误差(Error)
$$e=T_{wd}-T_w$$
其中$T_{wd}$为目标温度，$T_w$为实际温度。

控制系统则变为下图

$P_s=u(e)$
目标是使得误差e趋于0。

2.状态空间State Space

弹簧质量阻尼系统

输入：$u(t)=f(t)$
输出：$x$

$f_k=kx,f_B=B\dot{x}$

由牛顿第二定律F=ma得：
$$\begin{array}{rl}& m\ddot{x}=f(t)-f_k-f_B\\ & \Rightarrow m\ddot{x}+B\dot{x}+kx=f_k\end{array}$$

对式子两端进行拉普拉斯变换得到传递函数：
$$\begin{array}{rl}& \mathcal{L}\left[m\ddot{x}+B\dot{x}+kx\right]=\mathcal{L}[f_k]\\ & \\ & \Rightarrow m{s}^{2}X(s)+BsX(s)+kX(s)=F(s)\\ & \\ & \Rightarrow G(s)=\frac{X(s)}{F(s)}=\frac{1}{m{s}^2+Bs+k}\end{array}$$

这是经典控制理论的表达式，在现代控制理论当中，用的是状态-空间表达。状态-空间可以看作是包含系统的输入、输出和状态变量的一个集合，集合则用一阶微分方程表达。
$$状态-空间：集合\left\{\begin{array}{c}输入\\ 输出\\ 状态变量\end{array}\right\}一阶微分方程$$

$m\ddot{x}+B\dot{x}+kx=f_k$
选择状态变量，消除高阶项
状态：$\{\begin{array}{l}\begin{array}{rl}{z}_1& =x\\ z_2& =\dot{x}\end{array}\end{array}$
$\{\begin{array}{l}\begin{array}{rl}{\dot{z}}_1& =\dot{x}=z_2\\ {\dot{z}}_2& =\ddot{x}=f(t)-B\dot{x}-kx)\frac{1}{m}=\frac{1}{m}u(t)-\frac{B}{m}{z}_2-\frac{k}{m}{z}_1\end{array}\end{array}$

写成线性代数形式
$$\left[\begin{array}{c}{\dot{z}}_1\\ {\dot{z}}_2\end{array}\right]=\left[\begin{array}{cc}0& 1\\ -\frac{k}{m}& -\frac{B}{m}\end{array}\right]\left[\begin{array}{c}{z}_1\\ z_2\end{array}\right]+\left[\begin{array}{c}0\\ \frac{1}{m}\end{array}\right]\left[\begin{array}{c}u(t)\end{array}\right]$$

$$y=\left[\begin{array}{cc}1& 0\end{array}\right]\left[\begin{array}{c}{z}_1\\ z_2\end{array}\right]+\left[\begin{array}{c}0\end{array}\right]\left[\begin{array}{c}u(t)\end{array}\right]$$

$$\begin{gathered} \dot{Z}=Az+Bu \\ y=Cz+Du \\ A=\left[\begin{array}{cc}0& 1\\ -\frac{k}{m}& -\frac{B}{m}\end{array}\right],B=\left[\begin{array}{c}0\\ \frac{1}{m}\end{array}\right],C=\left[\begin{array}{cc}1& 0\end{array}\right],D=0 \end{gathered}$$

状态-空间方程的传递函数和动态方程的传递函数的关系

对系统的状态-空间方程作拉普拉斯变换：
$$\begin{gathered} \mathcal{L}[\dot{Z}]=\mathcal{L}[Az+Bu] \\ \Rightarrow sZ(s)=AZ(s)+BU(s) \\ \Rightarrow Z(s)=(sI-A{)}^{-1}BU(s) \end{gathered}$$
其中$I$为单位矩阵。

对系统的输出作拉普拉斯变换：
$$\mathcal{L}[y]=\mathcal{L}[Cz+Du]$$
$$\begin{array}{rl}\Rightarrow Y(s)& =CZ(s)+DU(s)\\ & =C(sI-A{)}^{-1}BU(s)+DU(s)\end{array}$$
则传递函数

$$G(s)=\frac{Y(s)}{U(s)}=C(sI-A{)}^{-1}B+D$$

$$sI-A=\left[\begin{array}{cc}s& 0\\ 0& s\end{array}\right]-\left[\begin{array}{cc}0& 1\\ -\frac{k}{m}& -\frac{B}{m}\end{array}\right]=\left[\begin{array}{cc}s& -1\\ \frac{k}{m}& s+\frac{B}{m}\end{array}\right]$$

  $A^{-1}=\frac{A^{\ast }}{|A|},A^{\ast }$伴随矩阵(对角互换，反对角取相反数)，$|A|$行列式

$$\begin{array}{rl}(sI-A{)}^{-1}& =\frac{(sI-A{)}^{\ast }}{|sI-A|}\\ & =\frac{\left[\begin{array}{cc}s+\frac{B}{m}& 1\\ -\frac{k}{m}& s\end{array}\right]}{s(s+\frac{B}{m})-(-1)(\frac{k}{m})}\\ & =\frac{\left[\begin{array}{cc}s+\frac{B}{m}& 1\\ -\frac{k}{m}& s\end{array}\right]}{s^2+\frac{B}{m}s+\frac{k}{m}}\end{array}$$

$$\begin{array}{rl}C(sI-A{)}^{-1}& =\left[\begin{array}{cc}1& 0\end{array}\right]\frac{\left[\begin{array}{cc}s+\frac{B}{m}& 1\\ -\frac{k}{m}& s\end{array}\right]}{s^2+\frac{B}{m}s+\frac{k}{m}}\\ & =\frac{\left[\begin{array}{cc}s+\frac{B}{m}& 1\end{array}\right]}{s^2+\frac{B}{m}s+\frac{k}{m}}\end{array}$$

$$\begin{array}{rl}C(sI-A{)}^{-1}B+D& =\frac{\left[\begin{array}{cc}s+\frac{B}{m}& 1\end{array}\right]}{s^2+\frac{B}{m}s+\frac{k}{m}}\left[\begin{array}{c}0\\ \frac{1}{m}\end{array}\right]+0\\ & =\frac{\frac{1}{m}}{s^2+\frac{B}{m}s+\frac{k}{m}}\\ & =\frac{1}{m{s}^2+Bs+k}\end{array}$$

$$G(s)=\frac{1}{m{s}^2+Bs+k}$$
  显然，这两个传递函数是一样的。

---

$|sI-A|\propto m{s}^2+Bs+k$

$|sI-A|=0\Rightarrow s$是$A$的特征值
$m{s}^2+Bs+k=0\Rightarrow s$是极点
  经典控制系统中，极点决定系统的稳定性，特征值也决定稳定性？

---

练习：

输入：$u$
输出：$y=i_{R1}$
状态变量：$V_1,V_2$

KCL:$\sum I=0$
$\{\begin{array}{l}{e}_1:i_{R1}=i_1+i_{R2}\\ e_2:i_{R2}=i_2\end{array}$

$$\begin{gathered} i_{R1}=\frac{U-V_1}{R_1},i_{R2}=\frac{V_1-V_2}{R_2} \\ {i}_1=C_1{\dot{V}}_1,i_2=C_2{\dot{V}}_2 \end{gathered}$$

则
$$\{\begin{array}{l}{e}_1:\frac{U-V_1}{R_1}=C_1{\dot{V}}_1+\frac{V_1-V_2}{R_2}\\ e_2:\frac{V_1-V_2}{R_2}=C_2{\dot{V}}_2\end{array}$$

---

$$\Rightarrow \{\begin{array}{l}{e}_1:{\dot{V}}_1=\frac{1}{C_1{R}_1}u-(\frac{1}{C_1{R}_1}+\frac{1}{C_1{R}_2})V_1+\frac{1}{C_1{R}_2}{V}_2\\ e_2:{\dot{V}}_2=\frac{1}{C_2{R}_2}{V}_1-\frac{1}{C_2{R}_2}{V}_2\end{array}$$

$$y=i_{R1}=\frac{1}{R_1}u-\frac{1}{R_1}{V}_1$$

---

$$\left[\begin{array}{c}{\dot{V}}_1\\ {\dot{V}}_2\end{array}\right]=\left[\begin{array}{cc}-(\frac{1}{C_1{R}_1}+\frac{1}{C_1{R}_2})V_1& \frac{1}{C_1{R}_2}\\ \frac{1}{C_2{R}_2}& -\frac{1}{C_2{R}_2}\end{array}\right]\left[\begin{array}{c}{V}_1\\ V_2\end{array}\right]+\left[\begin{array}{c}\frac{1}{C_1{R}_1}\\ 0\end{array}\right]\left[\begin{array}{c}u\end{array}\right]$$

$$y=\left[\begin{array}{cc}-\frac{1}{R_1}& 0\end{array}\right]\left[\begin{array}{c}{V}_1\\ V_2\end{array}\right]+\left[\begin{array}{c}\frac{1}{R_1}\end{array}\right]\left[\begin{array}{c}u\end{array}\right]$$

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3.Phase Portrait 相图 相轨迹

Phase Portrait是一种分析微分方程解的方法，它对动态系统分析和控制理论非常重要，本篇将从控制的角度讲解。

$$\begin{gathered} {\dot{x}}_1=x_2-0.5x_1 \\ {\dot{x}}_2=\sin x_1 \end{gathered}$$
是一个非线性系统，其相图是如下。

图中横轴为$x_1$，纵轴为$x_2$

Matlab 实现

[x1,x2] = meshgrid(-5:0.5:5,-5:0.5:5);
dx1 = x2 - 0.5*x1;
dx2=sin(x1);

figure
hold on
quiver(x1,x2,dx1,dx2)
hold off

---

1-D

$\dot{x}=f(x)=x^2-5$

$\dot{x}=0\Rightarrow \{\begin{array}{l}x=x_{01}\\ x=x_{02}\end{array}$

  $x_{01}$左侧，$\dot{x}>0,x$单调增；$x_{01}$右侧，$\dot{x}<0,x$单调减；$x_{01}$左右两侧都趋于$x_{01}$,$x_{01}$是稳定点(平衡点)。

  $x_{02}$左侧，$\dot{x}<0,x$单调减；$x_{02}$右侧，$\dot{x}>0,x$单调增；$x_{02}$左右两侧都远离$x_{02}$,$x_{02}$是不稳定点。

因此可以通过判断$\dot{x}$的符号判断$x$的变化趋势。

---

$\dot{x}=x-\cos x$

平衡点$\dot{x}=0,x-\cos x=0$
  $x_0$左侧，$\dot{x}<0,x$单调减；$x_0$右侧，$\dot{x}>0,x$单调增；$x_0$左右两侧都远离$x_0$,$x_0$是不稳定点(非平衡点)。

---

2-D

state space
$\dot{x}=Ax+Bu,$

令$u=0$
$$\frac{d}{dt}\left[\begin{array}{c}{x}_1\\ x_2\end{array}\right]=\left[\begin{array}{cc}a& b\\ c& d\end{array}\right]\left[\begin{array}{c}{x}_1\\ x_2\end{array}\right]$$

令$b=c=0$
${\dot{x}}_1=a{x}_1,{\dot{x}}_2=d{x}_2$

平衡点为
$$\left[\begin{array}{c}{x}_{10}\\ x_{20}\end{array}\right]=\left[\begin{array}{c}0\\ 0\end{array}\right]$$

case 1:source
a=d>0
${\dot{x}}_1=a{x}_1,{\dot{x}}_2=d{x}_2$

$x_1>0$，$\dot{x}>0$
$x_2>0$，$\dot{x}>0$

$x_1<0$，$\dot{x}<0$
$x_2<0$，$\dot{x}<0$
图中蓝色箭头，为发散点，即不稳定。

当a>b>0时，图中的绿色箭头，同样是不稳定。

case 2:saddle
a>0,d<0
${\dot{x}}_1=a{x}_1,{\dot{x}}_2=d{x}_2$

$x_1>0$，$\dot{x}>0$
$x_2>0$，$\dot{x}<0$

$x_1<0$，$\dot{x}<0$
$x_2<0$，$\dot{x}>0$

$t\to \infty ,x_2\to 0,x_1\to \infty$

case 3: sink
a<0,d<0
${\dot{x}}_1=a{x}_1,{\dot{x}}_2=d{x}_2$

$x_1>0$，$\dot{x}<0$
$x_2>0$，$\dot{x}<0$

$x_1<0$，$\dot{x}>0$
$x_2<0$，$\dot{x}>0$

$t\to \infty ,x_1,x_2\to 0$

---

General Form:

$\dot{X}=Ax$，令$\begin{array}{rl}x& =Py\\ \dot{y}& =\Lambda y\end{array},\begin{array}{rl}P& =\left[\begin{array}{cc}{v}_1& v_2\end{array}\right]\\ \Lambda & =\left[\begin{array}{cc}{\lambda }_1& 0\\ 0& {\lambda }_2\end{array}\right]\end{array}$
${\lambda }_1,{\lambda }_2:$特征值
$v_1,v_2:$特征向量

例 $\dot{x}=\left[\begin{array}{cc}-3& 4\\ -2& 3\end{array}\right]x$

• 求$\lambda$
  $$\begin{array}{rl}& |\lambda I-A|=0\\ & \Rightarrow {\lambda }^2-9+8=0\\ & \Rightarrow \lambda =\pm 1\end{array}$$

• 求$v_1,v_2$
  $$\begin{array}{rl}& \left[\begin{array}{c}\lambda I-A\end{array}\right]\left[\begin{array}{c}{x}_1\\ x_2\end{array}\right]=0\\ & \Rightarrow v_1=\left[\begin{array}{c}1\\ 1\end{array}\right],v_2=\left[\begin{array}{c}2\\ 1\end{array}\right]\\ & \Rightarrow P=\left[\begin{array}{cc}1& 2\\ 1& 1\end{array}\right]\end{array}$$

$$\dot{y}=\left[\begin{array}{cc}1& 0\\ 0& -1\end{array}\right]y,x=\left[\begin{array}{cc}1& 2\\ 1& 1\end{array}\right]y$$

线性变换，变换至新的坐标系
a>0,d<0，saddle鞍点

$x$和$y$性质相同，特征值$\lambda$决定系统的性质（稳定性）

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又例 $\dot{x}=\left[\begin{array}{cc}0& a\\ -a& 0\end{array}\right]x,a>0$

• 求$\lambda$
  $$\begin{gathered} |\lambda I-A|=0 \\ \Rightarrow {\lambda }^2=-a^2 \\ \Rightarrow \lambda =\pm ai \end{gathered}$$
• 求$v_1,v_2$
  $$\begin{gathered} \left[\lambda I-A\right]x=0 \\ {v}_1=\left[\begin{array}{cc}1& i\end{array}\right],v_2=\left[\begin{array}{cc}1& -i\end{array}\right] \end{gathered}$$

$$\dot{y}=\Lambda y=\left[\begin{array}{cc}ai& 0\\ 0& -ai\end{array}\right]y$$

$$\Rightarrow y_1=C_1{e}^{ait},y_2=C_2{e}^{-ait}$$

$$\begin{array}{rl}x& =\left[\begin{array}{c}{x}_1\\ x_2\end{array}\right]=Py=\left[\begin{array}{cc}1& 1\\ ai& -ai\end{array}\right]\left[\begin{array}{c}{C}_1{e}^{ait}\\ C_2{e}^{-ait}\end{array}\right]\\ & =\left[\begin{array}{c}{C}_1{e}^{ait}+C_2{e}^{-ait}\\ ai{C}_1{e}^{ait}-ai{C}_2{e}^{-ait}\end{array}\right]\\ & =\left[\begin{array}{c}{B}_1\cos at+B_{2}i\sin at\\ B_3\cos iat+B_4\sin at\end{array}\right]\end{array}$$

$${\left(\frac{x_1}{B_1}\right)}^2+(\frac{x}{B_4}$$