이득 스케줄링

비선형 플랜트를 위한 이득 스케줄링이 적용된 제어기의 조정

이득 스케줄링이 적용된 제어기는 이득이 시간, 동작 조건 또는 플랜트 파라미터의 함수로 자동으로 조정된 제어기입니다. 이득 스케줄링은 시간 또는 동작 조건에 따라 동특성이 변하는 시스템을 제어하기 위한 일반적인 전략입니다. 이러한 시스템에는 선형 파라미터 가변(LPV) 시스템과 많은 비선형 시스템 유형이 포함됩니다. Simulink^®에서 이득 스케줄링이 적용된 제어기를 조정하기 위해 tunableSurface 명령을 사용하여 가변 이득을 스케줄링 변수의 함수로 나타냅니다. 이득 스케줄링이 적용된 제어기의 워크플로 개요는 Gain Scheduling Basics 항목을 참조하십시오.

함수

모두 확장

스케줄링된 이득의 파라미터화

`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

제어 시스템 조정

`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

가변 조정 목표

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

블록

모두 확장

연속시간

Varying Lowpass Filter	변하는 계수를 갖는 버터워스 필터
Varying Notch Filter	변하는 계수를 갖는 노치 필터
PID Controller	Continuous-time or discrete-time PID controller
PID Controller (2DOF)	Continuous-time or discrete-time two-degree-of-freedom PID controller
Varying Transfer Function	변하는 계수를 갖는 전달 함수
Varying State Space	State-space model with varying matrix values
Varying Observer Form	Observer-form state-space model with varying matrix values

이산시간

Discrete Varying Lowpass	변하는 계수를 갖는 이산 버터워스 필터
Discrete Varying Notch	변하는 계수를 갖는 이산시간 노치 필터
Discrete PID Controller	Discrete-time or continuous-time PID controller
Discrete PID Controller (2DOF)	Discrete-time or continuous-time two-degree-of-freedom PID controller
Discrete Varying Transfer Function	변하는 계수를 갖는 이산시간 전달 함수
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

이득 스케줄링이 적용된 PID 자동 조정

Gain-Scheduled PID Autotuner	Automatically tune PID gains at multiple operating points (R2024a 이후)
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 (R2023b 이후)
PID Gain Scheduler	Lookup table based gain scheduling with PID array (R2023b 이후)
PID Gains Store and Update	Store and update tuned PID gains tuned using Closed-Loop PID Autotuner (R2023b 이후)

도움말 항목

이득 스케줄링이 적용된 제어 시스템

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.

이득 스케줄 조정

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.

이득 스케줄링 자동 조정

Gain-Scheduled PID Autotuning a VTOL UAV During Forward and Backward Transition
Tune gain-scheduled PID controller for VTOL UAV transitioning between operating modes. (R2024a 이후)
Gain-Scheduled PID Autotuning Torque Control for a Nonlinear PMSM
Tune gain-scheduled PID controllers for d-axis and q-axis current loops of a nonlinear PMSM model. (R2024a 이후)

HL-20 자동 조종 사례 연구

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^®.