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

全部展开

参数化调度增益

`tunableSurface`	Create tunable gain surface for gain scheduling
`polyBasis`	Polynomial basis functions for tunable gain surface
`fourierBasis`	Fourier basis functions for tunable gain surface
`ndBasis`	Basis functions for tunable gain surface
`viewSurf`	Visualize gain surface as a function of scheduling variables
`evalSurf`	Evaluate gain surfaces at specific design points
`getData`	Get current values of tunable-surface coefficients
`setData`	Set values of tunable-surface coefficients

控制系统调节

`slTuner`	Interface for control system tuning of Simulink models
`slTunerOptions`	Set `slTuner` interface options
`systune (slTuner)`	Tune control system parameters in Simulink using `slTuner` interface

可变调节目标

`varyingGoal`	Variable tuning goal for gain-scheduled controllers
`getGoal`	Evaluate variable tuning goal at specified design point

模块

全部展开

连续时间

Varying Lowpass Filter	Butterworth filter with varying coefficients
Varying Notch Filter	Notch 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 Function	Transfer function with varying coefficients
Varying State Space	State-space model with varying matrix values
Varying Observer Form	Observer-form state-space model with varying matrix values

离散时间

Discrete Varying Lowpass	Discrete Butterworth filter with varying coefficients
Discrete Varying Notch	Discrete-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 Function	Discrete-time transfer function with varying coefficients
Discrete Varying State Space	Discrete-time state-space model with varying matrix values
Discrete Varying Observer Form	Discrete-time observer-form state-space model with varying matrix values

增益调度 PID 自动调节

Closed-Loop PID Autotuner	Automatically tune PID gains based on plant frequency responses estimated from closed-loop experiment in real time
Change Operating Points	Switch between operating points during simulation (自 R2023b 起)
PID Gain Scheduler	Lookup table based gain scheduling with PID array (自 R2023b 起)
PID Gains Store and Update	Store 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

Tune Gain Schedules in Simulink
Understand the general tuning workflow for using systune to tune gain-scheduled controllers.
Plant Models for Gain-Scheduled Controller Tuning
To tune a gain-scheduled control system, you need a collection of linear models describing the plant dynamics at the selected design points.
Multiple Design Points in slTuner Interface
For tuning a gain-scheduled control system, associate a family of linear plant models with the slTuner interface to your Simulink model.
Parameterize Gain Schedules
A gain surface parameterizes a variable gain in terms of the scheduling variables. Use gain surfaces to model variable gains in a gain-scheduled control system.
Change Requirements with Operating Condition
When tuning gain-scheduled controllers, you can specify tuning objectives that depend on the scheduling variables.
Validate Gain-Scheduled Control Systems
Tuning gain-scheduled controllers guarantees suitable performance only near each design point. It is important to validate the tuning results over the full range of operating conditions.

HL-20 自动驾驶案例研究

Trimming and Linearization of the HL-20 Airframe
Linearize an airframe model at an array of design points to use for gain-scheduled control design.
Angular Rate Control in the HL-20 Autopilot
Tune gain-scheduled PI controllers for the inner loop of the HL-20 airframe model.
Attitude Control in the HL-20 Autopilot - SISO Design
Tune a gain-scheduled SISO architecture for controlling roll, pitch, and yaw of the airframe.
Attitude Control in the HL-20 Autopilot - MIMO Design
Tune a gain-scheduled MIMO architecture for controlling roll, pitch, and yaw of the airframe.
MATLAB Workflow for Tuning the HL-20 Autopilot
Design a gain-scheduled control system for the HL-20 airframe in MATLAB^®.