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📋📋📋本文目录如下:🎁🎁🎁
目录
💥1 概述
摘要:本文研究了边界控制的无限维波特-哈密顿系统的鲁棒输出跟踪和干扰抑制,包括欧拉-伯努利梁等二阶模型。控制设计采用内模原理,稳定性分析采用李雅普诺夫方法。与现有研究不同,对所考虑的PDE类的外部良定性没有任何假设。结果应用于原子力显微成像中使用的压电驱动管的鲁棒跟踪。
关键词:调节 数学模型 控制系统 稳定性分析 闭环系统 阻抗 随机存储器 边界控制系统 控制器设计 分布式 波特-哈密顿系统(PHS) 鲁棒输出调节
详细文章见第4部分。
📚2 运行结果
部分代码:
% Define the size of the numerical approximation
N = 50;
% Construct the Mixed FEM numerical approximation of the Timoshenko beam
% model. The system has the form
% x'(t) = A*x(t) + B*u(t) + Bd*wdist(t)
% y(t) = C*x(t) + D*u(t) + Dd*wdist(t)
% where the matrices (A,[B,Bd],C,[D,Dd]) are saved in the struct 'Sys'.
% 'spgrid' is the spatial discretization mesh and x0 is the initial
% deflection of the beam.
% The initial state of the system is x0=0 (the zero initial state).
[x0,spgrid,Sys] = ConstrAtomicForceMicroscopyModel(N);
% Define the reference and disturbance signals
yref = @(t) 100*sin(2*pi*10*t)+100*cos(2*pi*15*t);
wd_amplitude = .2;
wd_phase = 0.6;
wdist = @(t) wd_amplitude*sin(2*pi*50*t+wd_phase);
% List the (real) frequencies in the reference and disturbance signals
% If 0 is included as a frequency, it is required to be the first element.
freqsReal = [2*pi*10, 2*pi*15, 2*pi*50];
freqs = 1i*freqsReal;
% % Additional code for numerical approximation of the transfer function
% % real parts Re(P(is)) on the imaginary axis and for checking the condition
% % Re(P(i\omega_k))>0
% dimX = size(Sys.A,1);
% Pappr = @(s) Sys.C*((s*eye(dimX)-Sys.A)\Sys.B)+Sys.D;
% ww = linspace(0,20,301);
% PvalsRe = zeros(size(ww));
% for ind = 1:length(ww)
% PvalsRe(ind)=real(Pappr(1i*ww(ind)));
% end
% figure(4)
% plot(ww,min(PvalsRe,10),'Linewidth',2);
%% Construct the controller and the closed-loop system
% Define the controller parameters delta_c (gain) and Dc (feedthrough)
delta_c = 0.2;
Dc=0.002;
% Construct the controller matrices Jc and Dc model. The control system
% has the form
% x_c'(t) = Jc*x_c(t) + delta_c*Bc*(yref(t) - y(t))
% y(t) = delta_c*Bc'*x(t) + Dc*(yref(t) - y(t))
% where the matrices (Jc,Bc,Dc) are saved in the struct 'CSys'.
plot(tgrid,yref(tgrid),'Color',1.1*[0 0.447 0.741],'Linewidth',2);
plot(tgrid,CLsim.output,'-.','Linewidth',2);
title('Output $y(t)$ (dashed line) and the reference $y_{ref}(t)$ (solid line)','Interpreter','latex','Fontsize',16)
set(gca,'xgrid','off','tickdir','out','box','off')
ylim(1.1*max(abs(CLsim.output))*[-1,1])
subplot(2,1,2)
plot(tgrid,CLsim.error,'Linewidth',2);
set(gca,'xgrid','on','ygrid','on','tickdir','out','box','off')
title('Tracking error $y(t)-y_{ref}(t)$','Interpreter','latex','Fontsize',16)
ylim(1.1*max(abs(CLsim.error))*[-1,1])
🎉3 参考文献
文章中一些内容引自网络,会注明出处或引用为参考文献,难免有未尽之处,如有不妥,请随时联系删除。
[1] Lassi Paunonen, Yann Le Gorrec (2021) Robust Regulation of a Boundary Controlled Timoshenko Beam Model.