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针对TORA系统的镇定控制问题,提出了一种基于最大反馈线性化的非奇异控制器设计方案。应用拉格朗日方程建立起了TORA系统的数学模型,采用微分代数方法计算出了TORA系统中具有最大相对阶的虚拟输出函数,以此为基础通过反馈线性化可将TORA的数学模型转化为具有稳定内动态的三阶线性系统,采用极点配置方案为TORA系统设计了镇定控制器,为了解决控制律中存在的奇异值问题,采用梯度动力学方法对控制器进行了调整。通过仿真分析验证了基于最大反馈线性化的控制方案的有效性。
Aiming at the stabilization control problem of TORA system, a non-singular controller design scheme based on maximum feedback linearization is proposed. The mathematical model of TORA system is established by using Lagrange equation. The virtual output function with the largest relative degree in TORA system is calculated by using the method of differential algebra. Based on this, the mathematical model of TORA can be transformed into The third order linear system with stable internal dynamics is adopted. The stabilization controller is designed for the TORA system by using the pole placement scheme. In order to solve the singular value problem existing in the control law, the gradient dynamic method is adopted to adjust the controller. Simulation results show the effectiveness of the control scheme based on maximum feedback linearization.