﻿ T-S模糊时滞模型在卡车拖车控制系统中的应用仿真研究 Simulation Research on Application of T-S Fuzzy Delay Model in Truck Trailer Control System

Operations Research and Fuzziology
Vol.07 No.02(2017), Article ID:20745,11 pages
10.12677/ORF.2017.72008

Simulation Research on Application of T-S Fuzzy Delay Model in Truck Trailer Control System

Xingwang Liu*, Cheng Gong, Zijian Chen, Jie Deng, Xinyu Bao

The School of Mathematical Science, Heilongjiang University, Harbin Heillongjiang

Received: May 9th, 2017; accepted: May 24th, 2017; published: May 27th, 2017

ABSTRACT

The research on truck trailer reversing control system is currently a widespread engineering technical problem. Based on the Lyapunov-Krasovskii function method, linear matrix inequality (LMI) and parallel distributed compensation (PDC), this paper establishes a model of truck trailer reversing system based on T-S fuzzy delay model, and forms a linear matrix inequality (LMI). The delay-dependent state feedback controller is given to the robust stability of the truck trailer reversing system and the control performance index. The simulation results of the model verify the effectiveness of the design.

Keywords:Truck Trailer Reversing, T-S Fuzzy Time-Delay System, Lyapunov Function, Linear Matrix Inequality

T-S模糊时滞模型在卡车拖车控制系统中 的应用仿真研究

1. 引言

2. T-S模糊时滞模型及控制器的基本思想

T-S模糊控制系统及其相关理论是由学者Takagi和Sugeno在结合前人研究与当时研究进展的情况下，提出的一种新型模糊模型形式，其特点是：它的模糊规则前件部分与以前的模糊控制规则情况相同，而后件却不是以前普遍使用的模糊语言变量 [2] ，而是将其变为相关输入变量的线性相关的形式，这可以视为是对模型分段线性化的有力扩展，可用来表述一类非常广泛的和动态非线性系统瞬一，比较适合于对基于模型的控制系统研究及其稳定性分析 [3] 。模糊IF-THEN规则语言是当前一般情况下T-S模糊控制理论所广泛使用的基本描述语言。相对于其他控制理论，它能够通过针对整体中的后件部分地表达非线性复杂系统的输入输出关系。T-S模糊控制理论模型的第i个规则应该如下：

IF-THEN规则：:IF is and is,...,and is

THEN, (1)

(2)

Rule: IF is and.... is,THEN,.

(3)

, , ,.

3. 基于T-S 模糊时滞模型的卡车拖车倒车系统模型及控制器设计

3.1. 基于T-S模糊模型的卡车拖车系统模型

Figure 1. The diagram of truck trailer system

.

,，由上述参数可知，可得

Rule 1: IF is about 0, THEN

(4)

(5)

(6)

3.2. 卡车拖车系统模型鲁棒状态反馈控制设计方法

(7)

(8)

4. 仿真结果与讨论

Figure 2. Status trajectories of for open loop systems

Figure 3. Status trajectories of for open loop systems

Figure 4. State trajectories of for open loop systems

Figure 5. State trajectories of for closed-loop systems

Figure 6. State trajectories of for closed-loop systems

Figure 7. State trajectories of for closed-loop systems

Figure 8. Measurement output and interference input for closed-loop systems

Simulation Research on Application of T-S Fuzzy Delay Model in Truck Trailer Control System[J]. 运筹与模糊学, 2017, 07(02): 61-71. http://dx.doi.org/10.12677/ORF.2017.72008

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