自动化学报Issue(5)：952-964,13.DOI:10.3724/SP.J.1004.2014.00952
一种基于边界特征线且特征点可变的二阶非线性离散跟踪微分器及在测速定位系统中的应用
Discrete Second-order Nonlinear Tracking-differentiator Based on Boundary Characteristic Curves and Variable Characteristic Points and Its Application to Velocity and Position Detection System
摘要
Abstract
The boundary characteristic curves of linear regions with the second-order discrete time optimal control are presented using the method of the state back step. The control variable is decided by the linearized criterion according to the relative position between phase plane point and switching curve, and the boundary characteristic curves. The reachable region and the boundary region are given. Then some sectionalized constructed linear synthetic functions are obtained. Based on this function, the discrete form of tracking-differentiator (TD) is constructed. This algorithm is able to amend its characteristic points and is flexible to applications. It does not contain the square roots algorithm, and its form is simple and its implement action is easy. Numerical simulation of sinusoidal wave and square wave shows that this discrete form of tracking-differentiator can quickly track an input signal without overshooting or chattering and can produce a good differential signal. Its effect is similar to one of the nonlinear boundary transformation. A kind of TD group with phase compensation and filter ability is acquired using the moving average algorithm. The excellent filter ability and phase compensation are obtained after a proper TD parameter choice. The velocity and position detection of a permanent magnet electro dynamic maglev train system based on long stator alveolus count employs the above scheme. The running experiment of the train shows that the above algorithm can effectively remove noise and lead to little phase delay, and amend distortion signals at the guide juncture. The algorithm is easy, effective and convenient to engineering implementation action.关键词
跟踪微分器/离散系统/线性边界/最速控制/综合函数/可达区Key words
Tracking-differentiator (TD)/discrete time systems/linear boundary/time optimum control/synthetic function/reachable region引用本文复制引用
谢云德,李云钢,龙志强,戴春辉..一种基于边界特征线且特征点可变的二阶非线性离散跟踪微分器及在测速定位系统中的应用[J].自动化学报,2014,(5):952-964,13.基金项目
国家自然科学基金(11202230,60974128,11302252)资助Supported by National Natural Science Foundation of China (11202230,60974128,11302252) （11202230,60974128,11302252）
