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Validate Gain-Scheduled Control Systems

调谐增益时间表需要仔细验证。调整过程仅在每个设计点附近保证合适的性能。此外，调整忽略了植物状态变量和调度变量之间的动态耦合（请参阅第4.3节，“隐藏耦合”，in[1]). Best practices for validation include:

  • 检查调谐的增益表面，以确保它们表现顺利且行为良好。

  • 在所有设计点上可视化对系统响应的调整目标。

  • Check linear performance of the tuned control system between design points.

  • Validate gain schedules in simulation of the full nonlinear system.

Check linear performance on a denser grid ofσ值比您用于设计的值。如果在设计点之间无法保持足够的线性性能，则可以添加更多设计点并重新恢复。

执行非线性模拟，以使闭环系统通过其整个操作范围。特别注意导致调度变量快速变化的操作。

检查调整获得的表面

After tuning, examine the tuned gains as a function of the scheduling variables to make sure that they are smooth and well-behaved over the operating range. Visualize tuned gain surfaces using theviewSurfcommand.

Visualize Tuning Goals

Use tuning-goal plots to visualize your design requirements against the linear response of the tuned control system. Tuning-goal plots show graphically where and by how much tuning goals are satisfied or violated. This visualization lets you examine how close your control system is to ideal performance. It can also help you identify problems with tuning and provide clues on how to improve your design.

有关使用调谐目标图的一般信息，请参见Visualize Tuning Goals。For gain-scheduled control systems, the tuning-goal plots you generate withviewGoal提供其他信息，可帮助您评估每个调整目标如何促进结果。

Fixed Tuning Goals

对于适用于多个设计点的固定调整目标，viewGoal在所有这些设计点上绘制相关系统响应。例如，假设您调整slTunerinterface,ST， 为了rct_cstrmodel described in化学反应器的增益安排控制。You can useviewGoalto see how well each of the five design points of that example satisfies the gain goalR3。The resulting plot shows the relevant gain profile at all five design points. Click any of the gain lines for a display that shows the corresponding value of the scheduling variableCr。

viewGoal(R3,ST)

Varying Tuning Goals

Varying goals that you create usingvaryingGoal应用不同的target response at each design point. When you use viewGoal to examine a varying goal, the plot initially displays the target and tuned responses at the first design point in the design grid. For instance, suppose that you tune a control systemSTover a design grid of two scheduling variables, using a varying goalRvthat varies across the entire grid. After tuning, examineRv。

ViewGoal（RV，ST）

Click改变to open sliders that let you select a design point at which to view the target and tuned responses.

检查线性性能

In addition to examining linear responses associated with tuning goals, check other linear responses of the system to make sure that the behavior is suitable. You can do so by extracting and plotting system responses as described generally inValidate Tuned Control System。

For gain-scheduled systems, it is good practice to check linear performance on a denser grid of operating points than you used for design. If the system does not maintain adequate linear performance between design points, then you can add more design points and retune.

验证非线性系统中的增益时间表

Becausesystunetunes gain schedules against a linearization obtained at each design point, it is important to test the tuning results in simulation of the full nonlinear system. Perform nonlinear simulations that drive the closed-loop system through its entire operating range. Pay special attention to maneuvers that cause rapid variations of the scheduling variables.

调整后slTunerinterface, usewriteBlockValue为Simulink编写调用控制器参数万博1manbetx®model for such simulation. This command can write tuned gain schedules to lookup table blocks,Matrix Interpolation块，andMATLAB Functionblocks for which you have specified atunableSurfaceparameterization.

查找表

用于查找表块和Matrix Interpolation块，writeBlockValue自动评估块中指定的断点处的调谐增益表面。这些断点不需要与用于调整的设计点相同。因为tunableSurface描述参数形式的增益时间表，writeBlockValuecan evaluate the gain at any scheduling-variable value.

如果您重新调整了一部分设计点，则可以使用writeLookupTableDatato update a portion of the lookup-table data while leaving the rest intact.

MATLAB Function Blocks

For gain schedules implemented asMATLAB Function块，writeBlockValueautomatically generates MATLAB®代码并将其推到块上。生成的MATLAB函数采用调度变量，并返回由调谐参数表达式给出的增益值tunableSurface。要查看此MATLAB代码的特定增益表面，请使用codegencommand.

参考

[1]Rugh, W.J., and J.S. Shamma, "Research on Gain Scheduling",Automatica, 36 (2000), pp. 1401-1425.

See Also

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