回答以下问题:
1. 状态空间法如何设计控制器?
以卫星姿态控制为例:
卫星姿态控制的全阶补偿器设计:利用极点配置法为传递函数为1/s^2的人造卫星对象设计补偿器,将控制极点配置为:-0.707+j0.707和-0.707-j0.707(wn=1rad/s,sagma=0.707),并将估计器的极点配置为wn=5rad/s,sagma=0.5.
- 首先获得状态空间表达形式:
状态空间表达可表示如下:
y ( s ) = 1 s 2 u ( s ) [ x ˙ 1 x ˙ 2 ] = [ 0 0 1 0 ] [ x 1 x 2 ] + [ 1 0 ] u ( t ) y ( t ) = [ 0 1 ] [ x 1 x 2 ] y\left( s \right) =\frac{1}{s^2}u\left( s \right) \\ \left[ \begin{array}{c} \dot{x}_1\\ \dot{x}_2\\ \end{array} \right] =\left[ \begin{matrix} 0& 0\\ 1& 0\\ \end{matrix} \right] \left[ \begin{array}{c} x_1\\ x_2\\ \end{array} \right] +\left[ \begin{array}{c} 1\\ 0\\ \end{array} \right] u\left( t \right) \\ y\left( t \right) =\left[ \begin{array}{c} 0\\ 1\\ \end{array} \right] \left[ \begin{array}{c} x_1\\ x_2\\ \end{array} \right] y(s)=s21u(s)[x˙1x˙2]=[0100][x1x2]+[10]u(t)y(t)=[01][x1x2]
- 全状态反馈进行极点配置
[ x ˙ 1 x ˙ 2 ] = [ 0 1 0 0 ] [ x 1 x 2 ] − [ 0 1 ] [ k 1 k 2 ] [ x 1 x 2 ] [ x ˙ 1 x ˙ 2 ] = ( [ 0 1 0 0 ] − [ 0 1 ] [ k 1 k 2 ] ) [ x 1 x 2 ] \left[ \begin{array}{c} \dot{x}_1\\ \dot{x}_2\\ \end{array} \right] =\left[ \begin{matrix} 0& 1\\ 0& 0\\ \end{matrix} \right] \left[ \begin{array}{c} x_1\\ x_2\\ \end{array} \right] -\left[ \begin{array}{c} 0\\ 1\\ \end{array} \right] \left[ \begin{matrix} k_1& k_2\\ \end{matrix} \right] \left[ \begin{array}{c} x_1\\ x_2\\ \end{array} \right] \\ \left[ \begin{array}{c} \dot{x}_1\\ \dot{x}_2\\ \end{array} \right] =\left( \left[ \begin{matrix} 0& 1\\ 0& 0\\ \end{matrix} \right] -\left[ \begin{array}{c} 0\\ 1\\ \end{array} \right] \left[ \begin{matrix} k_1& k_2\\ \end{matrix} \right] \right) \left[ \begin{array}{c} x_1\\ x_2\\ \end{array} \right] [x˙1x˙2]=[0010][x1x2]−[01][k1k2][x1x2][x˙1x˙2]=([0010]−[01][k1k2])[x1x2]
- 计算闭环系统的特征方程:
det [ s I − ( F − G K ) ] = 0 ∣ [ s 0 0 s ] − [ 0 1 0 0 ] + [ 0 1 ] [ k 1 k 2 ] ∣ = 0 ∣ s − 1 k 1 s + k 2 ∣ = 0 s 2 + k 2 s + k 1 = 0 \det \left[ sI-\left( F-GK \right) \right] =0 \\ \left| \left[ \begin{matrix} s& 0\\ 0& s\\ \end{matrix} \right] -\left[ \begin{matrix} 0& 1\\ 0& 0\\ \end{matrix} \right] +\left[ \begin{array}{c} 0\\ 1\\ \end{array} \right] \left[ \begin{matrix} k_1& k_2\\ \end{matrix} \right] \right|=0 \\ \left| \begin{matrix} s& -1\\ k_1& s+k_2\\ \end{matrix} \right|=0 \\ s^2+k_2s+k_1=0 det[sI−(F−GK)]=0∣∣∣∣[s00s]−[0010]+[01][k1k2]∣∣∣∣=0∣∣∣∣sk1−1s+k2∣∣∣∣=0s2+k2s+k1=0
若将极点配置为:-0.707+j0.707和-0.707-j0.707(wn=1rad/s,sagma=0.707)
则对应的特征方程为:
s 2 + 2 s + 1 = 0 s^2+\sqrt{2}s+1=0 s2+2s+1=0
因此可得状态反馈增益为:
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\left[ \begin{matrix} k_1& k_2\\ \end{matrix} \right] =\left[ \begin{matrix} 1& \sqrt{2}\\ \end{matrix} \right]
[k1k2]=[12]
- 设计观测器:
为控制对象构造全阶模型,根据对物理对象建模获得假想的对象模型。
观测器的设计原理如下方程所示:通过引入输出反馈对观测器的输入校正,以达到观测器极点可配置的目的。
x ^ ˙ = F x ^ + G u + L ( y − H x ^ ) \dot{\hat{x}}=F\hat{x}+Gu+L\left( y-H\hat{x} \right) x^˙=Fx^+Gu+L(y−Hx^)
方程中未知项:L是比例增益;
- 计算估计器的极点:
[ x ~ ˙ 1 x ~ ˙ 2 ] = ( [ 0 1 0 0 ] − [ l 1 l 2 ] [ 1 0 ] ) [ x ~ 1 x ~ 2 ] ∣ [ s 0 0 s ] − [ 0 1 0 0 ] + [ l 1 l 2 ] [ 1 0 ] ∣ = 0 ∣ s + l 1 − 1 l 2 s ∣ = 0 s 2 + l 1 s + l 2 = 0 \left[ \begin{array}{c} \dot{\tilde{x}}_1\\ \dot{\tilde{x}}_2\\ \end{array} \right] =\left( \left[ \begin{matrix} 0& 1\\ 0& 0\\ \end{matrix} \right] -\left[ \begin{array}{c} l_1\\ l_2\\ \end{array} \right] \left[ \begin{matrix} 1& 0\\ \end{matrix} \right] \right) \left[ \begin{array}{c} \tilde{x}_1\\ \tilde{x}_2\\ \end{array} \right] \\ \left| \left[ \begin{matrix} s& 0\\ 0& s\\ \end{matrix} \right] -\left[ \begin{matrix} 0& 1\\ 0& 0\\ \end{matrix} \right] +\left[ \begin{array}{c} l_1\\ l_2\\ \end{array} \right] \left[ \begin{matrix} 1& 0\\ \end{matrix} \right] \right|=0 \\ \left| \begin{matrix} s+l_1& -1\\ l_2& s\\ \end{matrix} \right|=0 \\ s^2+l_1s+l_2=0 [x~˙1x~˙2]=([0010]−[l1l2][10])[x~1x~2]∣∣∣∣[s00s]−[0010]+[l1l2][10]∣∣∣∣=0∣∣∣∣s+l1l2−1s∣∣∣∣=0s2+l1s+l2=0
当估计器极点配置为:wn=5rad/s,sagma=0.5.时,对应的闭环特征方程为:
s 2 + 5 s + 25 = 0 s^2+5s+25=0 s2+5s+25=0
因此估计器的比例增益为:
[ l 1 l 2 ] = [ 5 25 ] \left[ \begin{array}{c} l_1\\ l_2\\ \end{array} \right] =\left[ \begin{array}{c} 5\\ 25\\ \end{array} \right] [l1l2]=[525]
- 获得补偿器的传递函数(不带参考输入的传递函数):
理论公式如下:
x ˙ = F x − G K x ^ ( x ^ 为观测状态 ) x ˙ = F x − G K ( x − x ~ ) ( x ~ 为状态观测误差 ) [ x ˙ x ~ ˙ ] = [ F − G K G K 0 F − L H ] [ x x ~ ] \dot{x}=Fx-GK\hat{x}\left( \hat{x}\text{为观测状态} \right) \\ \dot{x}=Fx-GK\left( x-\tilde{x} \right) \left( \tilde{x}\text{为状态观测误差} \right) \\ \left[ \begin{array}{c} \dot{x}\\ \dot{\tilde{x}}\\ \end{array} \right] =\left[ \begin{matrix} F-GK& GK\\ 0& F-LH\\ \end{matrix} \right] \left[ \begin{array}{c} x\\ \tilde{x}\\ \end{array} \right] x˙=Fx−GKx^(x^为观测状态)x˙=Fx−GK(x−x~)(x~为状态观测误差)[x˙x~˙]=[F−GK0GKF−LH][xx~]
上述闭环系统的特征根如下:
∣ s I − ( F − G K ) G K 0 s I − ( F − L H ) ∣ = 0 \left| \begin{matrix} sI-\left( F-GK \right)& GK\\ 0& sI-\left( F-LH \right)\\ \end{matrix} \right|=0 ∣∣∣∣sI−(F−GK)0GKsI−(F−LH)∣∣∣∣=0
等价为:(参考文献:)
det ( s I − F + G K ) ∗ det ( s I − F + L H ) = 0 \det \left( sI-F+GK \right) *\det \left( sI-F+LH \right) =0 det(sI−F+GK)∗det(sI−F+LH)=0
因此闭环特征根的极点由估计器和控制器共同决定。
而且设置互不影响。
动态补偿器传递函数如下:
x ^ ˙ = ( F − G K − L H ) x ^ + L y u = − K x ^ D c ( s ) = U ( s ) Y ( s ) = − K ( F − G K − L H ) − 1 L \dot{\hat{x}}=\left( F-GK-LH \right) \hat{x}+Ly \\ u=-K\hat{x} \\ D_c\left( s \right) =\frac{U\left( s \right)}{Y\left( s \right)}=-K\left( F-GK-LH \right) ^{-1}L x^˙=(F−GK−LH)x^+Lyu=−Kx^Dc(s)=Y(s)U(s)=−K(F−GK−LH)−1L
根据上述设计得到,重复写出控制参数及系数矩阵:
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F=\left[ \begin{matrix} 0& 1\\ 0& 0\\ \end{matrix} \right] \,\, G=\left[ \begin{array}{c} 0\\ 1\\ \end{array} \right] \,\, H=\left[ \begin{matrix} 1& 0\\ \end{matrix} \right] \\ K=\left[ \begin{matrix} 1& \sqrt{2}\\ \end{matrix} \right] \,\, L=\left[ \begin{array}{c} 5\\ 25\\ \end{array} \right]
F=[0010]G=[01]H=[10]K=[12]L=[525]
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D_c\left( s \right) =\frac{U\left( s \right)}{Y\left( s \right)}=-K\left( sI-F+GK+LH \right) ^{-1}L
Dc(s)=Y(s)U(s)=−K(sI−F+GK+LH)−1L
带入系数矩阵可得:
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-\left[ \begin{matrix} 1& \sqrt{2}\\ \end{matrix} \right] \left( \left[ \begin{matrix} s& -1\\ 0& s\\ \end{matrix} \right] +\left[ \begin{array}{c} 0\\ 1\\ \end{array} \right] \left[ \begin{matrix} 1& \sqrt{2}\\ \end{matrix} \right] \,\,+\left[ \begin{array}{c} 5\\ 25\\ \end{array} \right] \left[ \begin{matrix} 1& 0\\ \end{matrix} \right] \right) ^{-1}\left[ \begin{array}{c} 5\\ 25\\ \end{array} \right]
−[12]([s0−1s]+[01][12]+[525][10])−1[525]