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增益调度

调节非线性被控对象的增益调度控制器

增益调度控制器的增益会作为时间、工况或被控对象参数的函数自动调整。增益调度是其动态特性随时间或工况而变化的控制系统的常用策略。这种系统包括线性参数变化 (LPV) 系统和若干大类非线性系统类。要在 Simulink® 中调节增益调度控制器,您可以使用 tunableSurface 命令将可变增益表示为调度变量的函数。有关调节增益调度控制器的工作流概述,请参阅Gain Scheduling Basics

函数

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tunableSurfaceCreate tunable gain surface for gain scheduling
polyBasisPolynomial basis functions for tunable gain surface
fourierBasisFourier basis functions for tunable gain surface
ndBasisBasis functions for tunable gain surface
viewSurfVisualize gain surface as a function of scheduling variables
evalSurfEvaluate gain surfaces at specific design points
getDataGet current values of tunable-surface coefficients
setDataSet values of tunable-surface coefficients
slTunerInterface for control system tuning of Simulink models
slTunerOptionsSet slTuner interface options
systune (slTuner)Tune control system parameters in Simulink using slTuner interface
varyingGoalVariable tuning goal for gain-scheduled controllers
getGoalEvaluate variable tuning goal at specified design point

模块

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Varying Lowpass FilterButterworth filter with varying coefficients
Varying Notch FilterNotch filter with varying coefficients
PID Controller连续时间或离散时间 PID 控制器
PID Controller (2DOF)连续时间或离散时间二自由度 PID 控制器
Varying Transfer FunctionTransfer function with varying coefficients
Varying State SpaceState-space model with varying matrix values
Varying Observer FormObserver-form state-space model with varying matrix values
Discrete Varying LowpassDiscrete Butterworth filter with varying coefficients
Discrete Varying NotchDiscrete-time notch filter with varying coefficients
Discrete PID Controller离散时间或连续时间 PID 控制器
Discrete PID Controller (2DOF)离散时间或连续时间二自由度 PID 控制器
Discrete Varying Transfer FunctionDiscrete-time transfer function with varying coefficients
Discrete Varying State SpaceDiscrete-time state-space model with varying matrix values
Discrete Varying Observer FormDiscrete-time observer-form state-space model with varying matrix values
Closed-Loop PID AutotunerAutomatically tune PID gains based on plant frequency responses estimated from closed-loop experiment in real time
Change Operating PointsSwitch between operating points during simulation (自 R2023b 起)
PID Gain SchedulerLookup table based gain scheduling with PID array (自 R2023b 起)
PID Gains Store and UpdateStore and update tuned PID gains tuned using Closed-Loop PID Autotuner (自 R2023b 起)

主题

增益调度控制系统

  • Gain Scheduling Basics
    Gain scheduling is an approach to control of non-linear systems using a family of linear controllers, each providing satisfactory control for a different operating point of the system.
  • Model Gain-Scheduled Control Systems in Simulink
    In Simulink, model gain schedules using lookup tables, interpolation blocks, or MATLAB Function blocks.

调节增益调度

HL-20 自动驾驶案例研究