基于神经元的多变量自适应控制器的研究与设计

本文将单神经元控制器的基本思想引入到多变量控制系统,提出和设计了一种基于神经元的、具有在线学习功能的多变量控制器.该控制器具有结构简单、不依赖于对象模型和在线计算量少的特点.仿真实验结果表明,该控制器具有较好的控制效果.     

基于H∞控制理论的2-DOF内模控制器设计及其在电力系统中的应用

给出一种基于H∞控制理论的二自由度内模控制器设计方法.考虑了标称模型与实际模型之间存在乘性摄动时的失配性,利用适当的状态变换,将跟踪问题的控制器设计转化成一个调节问题的标准H∞控制器设计问题,再利用H∞输出动态反馈完成了控制器设计.以电力系统模型为例设计了一个二自由度H∞励磁控制器,仿真结果表明了此控制器的有效性.     

模糊控制与PID控制的对比及其复合控制

在对PID控制与模糊控制进行对比的基础上提出了一种模糊PID复合控制方案.首先,分别设计了一个常规PID控制器和一个基本模糊控制器;然后,对两种控制方案进行了仿真对比研究,并对它们的优缺点进行了评价;最后,为了将两种方案取长补短、优势互补,设计了一种模糊PID复合型控制器.该复合控制器根据偏差范围的大小,通过模糊控制与...     

时滞系统的模糊自适应PID控制研究

将模糊控制和常规PID控制相结合,设计了一种模糊自适应PID控制器,该控制器根据偏差和偏差变化率的要求实时调整PID参数。通过仿真表明：该控制器既具有常规PID控制器高精度的优点,又具有模糊控制器快速、适应性强的特点,并可以迅速消除系统误差,保证了系统具有良好的动、静态特性。     

精馏塔的自适应解耦控制

本文针对某精馏塔提出了一种简单的自适应解耦控制器。该控制器将广义最小方差控制策略和解耦补偿器结合起来,不仅可以对随机多变量系统实现动静态解耦而且具有良好的伺服跟踪性能。该控制器与常规PI控制器在某精馏塔双组分控制中的对比实验结果表明自适应解耦控制的性能优越于常规PI控制。     

基于变控制律方法的智能控制器在空调监控系统中的应用

介绍了一种采用变控制律的新型智能控制器在厂房空调中央监控系统中的应用 ,以取代采用单一 PID控制律的传统空调系统控制器。该系统应用集散控制 ,控制器以 PID控制为基础 ,结合 Fuzzy控制及 Bang-Bang控制技术 ,构成变控制律结构。将该控制器应用于恒温恒湿空气调节中央监控系统控制后 ,可具有控制精度高、响应速度快、对干扰不敏感等优点 ,取得良好的控制效果     

磁悬浮系统的两种线性化控制方法

本文首先利用动力学和电磁学方法建立了磁悬浮系统的模型 ,然后给出了直接反馈线性化方法的控制器设计 ,接着给出了基于平衡点展开的控制器设计 ,最后将两种控制方法的性能做了仿真比较 ,得出了两种方法的优劣结论。     

带有误差修正项的自适应学习控制

本文讨论了二阶系统在任意初态偏差下的自适应控制问题,借助学习控制及其初始修正的思想,提出了两种带有修正初态偏差功能的自适应控制策略:一阶吸引子控制器和零阶吸引子控制器.两种控制器都是将整个控制过程分成若干个等长时间的子过程,在每个子过程中控制算法都会进行误差校正和参数学习.其中,一阶吸引子控制器在每个子过程中同时修正所有状态偏差;而零阶吸引子控制器在每个子过程中先修正高阶状态偏差,再修正低阶状态偏差.并且两种控制器在控制过程中,都利用反正切函数对控制量进行连续化处理,解决了控制过程中的颤振问题.最后,通过计算机仿真验证了算法的有效性.     

模块多变量自校正控制器

为了解决控制中的约束问题，将模块多变量控制思想与自校正控制器相结合，并引入阶梯式 控制，构造一种新的自校正控制器．本文介绍了该控制器设计方法并给出了仿真结果．     

基于控制器输出误差方法的自适应模糊控制及其在机器人轨迹跟踪控制中的应用

本文提出一种自适应模糊控制器并将之用于机器人轨迹跟踪控制 ,该控制器采用控制器输出误差方法 (COEM) ,根据控制器的输出误差而不是对象的输出误差来在线地调整模糊控制器的参数 ,无须对对象进行辩识 .仿真结果表明该控制器用于机器人轨迹跟踪控制具有很好的性能 ,是一种有效的控制器     

A two-degree-of-freedom PI controller based on events

In this paper, a completely event-based two-degree-of-freedom proportional-integral controller is presented. The architecture of the controller is based on event-based decoupled solutions for the set-point following and the load disturbance rejection tasks. For the first task, the solution is a design procedure that, by considering a first-order-plus-dead-time model of the process and a predesigned open-loop control action, produces an event-based feedforward controller that provides the required process variable transition with just two events. The second task is solved by applying two separate event-based proportional and integral control actions. Because the two tasks are initially solved independently, two solutions for coupling them are described. Illustrative examples of the performance of the controller are included as well as experimental results.     

Robust incoherent control of qubit systems via switching and optimisation

A robust incoherent quantum control scheme via projective measurements plus unitary transformations is proposed for driving a qubit system from an unknown initial mixed state to an arbitrary target pure state. This scheme consists of two main steps: projective measurement on the initial mixed state and optimal control between two pure states. The first step projects the initial state into an eigenstate of the qubit system by projective measurement and guarantees that the proposed scheme is robust to different initial mixed states. The second step finds a set of suitable optimal controls to drive the qubit system from the conditional eigenstate to the target pure state. The connection between the two steps is accomplished by a switching strategy. To accomplish the second step, two approaches are presented in detail. These approaches are time-optimal transition with unbounded control and bang-bang control with minimal switches. The minimal time and minimal number of switches in these approaches can be calculated by simple analytical expressions. The proposed approaches provide two relatively straightforward optimal design methods.     

Decoupler and PID controller design of TITO systems

This paper treats controller design and tuning for systems with two input signals and two output signals in the process industry. Two design methods that can be combined to form a core in an algorithm for automatic design and tuning for the considered systems are presented. The proposed controller consists of a decoupler and a diagonal PID controller. The decoupler has the property that as little dynamics as possible is introduced in the decoupler. The PID design method is based on exhaustive search. The methods are combined and tested in an industrial environment in a paper mill.     

Understanding the Difference Between Robust Control and Optimal Control in a Linear Discrete-Time System with Time-Varying Parameters

Robust control has been a very popular area of research in the last two decades. The goal of this paper is to investigate the assumptions implicit in the “nonprobabilistic nature” of the a priori information used to derive the linear-quadratic robust control in discrete-time. This is done by comparing robust control with the optimal control for a linear system with time-varying parameters. First the theoretical differences between the two approaches are discussed. Then they are used in two numerical examples: a simple model with one control, one state and a time horizon of two periods, which is suitable for hand calculations, and the permanent income model. The main conclusion is that the decision maker applying robust control is indeed assuming a very restricted class of true, unknown models. JEL classification: C61     

PID控制在倒立摆实时控制系统中的应用

针对单级倒立摆系统的单输入双输出、强非线性、强耦合的不稳定系统,提出了双回路PID控制方案。通过仿真试验研究了双回路PID多种组合控制方案的可行性,并选出最佳方案——双回路PD-PD控制方案。通过在实际单级倒立摆装置上的实时控制试验证实所提出的控制方案可以实现了对小车位置和摆杆偏角的同时闭环控制。     

Fast and smooth clutch engagement control for dual-clutch transmissions

Automotive dual-clutch transmissions use two gear shafts and two clutches to perform automated gear shifts at a high comfort level. The two objectives of the clutch engagement controller are to realize a fast clutch engagement to reduce the gear shifting time, and a smooth clutch engagement to accurately track the demanded torque without a noticeable torque dip. This research work presents a new controller design that explicitly separates the control laws for each objective by introducing clutch engagement phases. Simulations and experiments in a test vehicle show that the control objectives are realized with a robust and relatively simple controller.     

工业加热炉的基于内模的分层递阶智能控制

针对加热炉的传统串级比值控制抗干扰能力不足。设计了基于内模的鲁棒性主回路控制器;对于加热炉的燃烧工况做了深入分析,指出燃烧过程存在两种异常工况。在两种异常工况下,常规串级比值控制必然使系统失去稳定,从而界定了串级比值控制结构控制能力的极限。针对此问题,增加了控制嚣的稳定性智能监督和智能优化层,构造了基于内模的分层递阶智能控制嚣。实际投运结果表明,这种分层递阶控制很好地解决了加热炉这种复杂的工业过程的控制,实现了加热炉平稳。经济燃烧。     

移动机器人无线实时反馈控制系统的设计

由于移动机器人左右两轮的非线性特征,其反馈调节无法克服这一特性,必须借助PC机来进行调节。为此提出了一种无线实时反馈控制方法,在PC机上加入PID控制算法,实现了对机器人的无线实时反馈控制。     

Resource-aware MPC for constrained linear systems: Two rollout approaches

In systems with resource constraints, such as actuation limitations in sparse control applications or limited bandwidth in networked control systems, it is desirable to use control signals that are either sparse or sporadically changing in time. Motivated by these applications, in this paper we propose two resource-aware MPC schemes for discrete-time linear systems subject to state and input constraints. The two MPC schemes exploit ideas from rollout strategies to determine simultaneously the new (continuous) control inputs and the (discrete) time instants at which the control actions are updated. The first scheme provides performance guarantees by design, in the sense that it allows the user to select a desired suboptimal level of performance, where the degree of suboptimality provides a trade-off between the guaranteed closed-loop control performance on the one hand and the utilization of (communication/actuation) resources on the other hand. The second scheme provides a guaranteed (average) resource utilization, while cleverly allocating these resources in order to maximize the control performance. By means of numerical examples, we demonstrate the effectiveness of the proposed strategies.     

Optimal control of a solar collector loop using a distributed-lumped model

This paper considers the optimal control of a solar collector loop described by a bilinear distributed parameter model for the collector fluid temperature and a bilinear lumped parameter model for the storage fluid temperature. The objective is to control the collector fluid velocity so as to maximize the net energy collected over a fixed time period. Necessary conditions for optimality, given by a set of equations whose solution yields the optimal control, are derived. It is shown that the optimal control is an open-loop, bang-bang control which depends on two terms: a measurable quantity which depends on the state of the collector fluid, and a quantity which depends on a future knowledge of the weather data. It is also shown that for the case in which only two switches occur during the period of operation, the optimal control depends only on the temperature difference across the collector. Thus, one can construct a feedback on/off controller for the system provided that it is known a priori that only two switches will occur during the time interval under consideration.