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针对指数不稳定对象的输入信号同时存在幅值和速率饱和的情况,介绍了一种抗饱和控制系统设计方法,该方法应用统一抗饱和结构,采用两步法设计控制补偿器,达到抗饱和效果。在补偿器作用下:当不存在执行机构饱和时,补偿器不产生作用,对象为标称控制器所控;当执行机构饱和时,补偿器起作用。给出了该方法的理论证明和实现过程,仿真结果证明,此补偿器可以对双饱和不稳定对象的控制系统的饱和非线性起到很好补偿作用,在保证稳定性的前提下依然满足跟踪性能。
Aiming at the situation that the input signal of exponential unstable object has both amplitude and speed saturation, an anti-saturation control system design method is introduced. This method uses a uniform anti-saturation structure and a two-step design to control the compensator to achieve anti-saturation effect . In the compensator role: When there is no actuator saturation, the compensator does not work, the object is controlled by the nominal controller; when the implementing agency is saturated, the compensator works. The theoretical proof and realization process of this method are given. The simulation results show that this compensator can compensate the saturation nonlinearity of the control system of the bi-saturated unstable objects and still satisfy the tracking under the premise of ensuring the stability performance.