控制器参数的在线实时自整定

现代控制系统的内在核心问题仍然是控制算法的设计和实现问题。如果控制器在运行过程中，能随着被控特性的变化而在线实时自整定控制器的参数，将是保证控制器优良性能的关键措施之一。本文对ＰＩＤ参数在线实时自整定技术进行了详细阐述。     

用MATLAB仿真分析自抗扰控制器的整定参数

自抗扰控制器在实际使用时有多个需要整定的参数,由于控制器参数多,又无法确定参数作用方向,因此参数整定困难,为实际使用自抗扰控制器带来不便。本文利用MATLAB软件仿真分析控制器及参数,寻求参数整定规律,简化整定过程,对实际应用自抗扰控制器具有较大的意义。     

基于模糊推理的自整定PID控制器

本文提出一种基于模糊推理的自整定PID控制器，利用模糊推理来优化PID控制器参数。文章深入介绍了以80C196KC单片机为核心的自整定PID控制器的软、硬件电路设计及实现。     

参数自整定模糊控制器在弧焊焊缝跟踪中的应用

本文阐述了焊缝跟踪参数自整定模糊控制器的工作原理，提出了比例因子和量化因子自动调节的方案和实现方法，介绍了模糊控制器的具体设计步骤和单片机参数自整定模糊控制系统的软硬件设计。结果表明，在焊缝跟踪中采用参数自整定模糊控制器可以明显改善系统的性能。     

基于Matlab参数自整定PID控制器的设计与仿真

本文针对常规PID控制器不能在线进行参数自整定的问题,结合模糊控制技术,提出了一种模糊自整定PID参数的方法,并利用Matlab的模糊控制工具箱以及Simulink对其进行了仿真,结果表明设计的自整定PID模糊控制器具有控制精度高,超调小,动态性能好的特性.     

异步电动机的自抗扰控制器及其参数整定

针对异步电动机的控制问题设计一种自抗扰控制器，并给出了该控制器的参数整定方案。仿真实验表明，该方案可以快速有效地得到自抗扰控制器的有效参数，使闭环系统具有快速稳定的跟踪性能。所提出的参数整定方案对自抗扰控制器的使用和推广具有参考价值。     

根据系统时间尺度整定自抗扰控制器参数

自抗扰控制器(ADRC)取得了优良的控制效果, 但控制器参数整定比较困难. 本文利用受控系统时间尺度展开ADRC参数整定问题的研究. 首先, 在时间尺度一般定义的基础上, 根据系统单位阶跃响应, 给出了二阶系统的时间尺度计算格式. 然后, 在被控对象受扩展状态器(ESO)补偿作用所得积分器串联系统的时间尺度不变的假设下, 推导了一种基于受控系统时间尺度的ADRC控制器参数整定方法. 最后, 仿真结果表明该方法可行, 为ADRC参数整定提供了方便.     

多变量非线性自整定PID控制器 *

本文提出一种基于神经网络的多变量非线性自整定ＰＩＤ控制器，通过神经网络权值的学习在线自动整定控制器参数，将其用于某水浴系统的温度多变量控制，仿真结果令人满意。该控制器的设计无需对象模型，具有响应豆腐快，抗干扰能力强和鲁棒性好等特点，控制器不仅算法简单，实现简易，而且适用范围广。     

PID控制器参数快速整定的新方法

为了克服现有ＰＩＤ控制器参数整定方法的不足，本文分析了影响控制器参数整定的几个基本问题。在此基础上，提出了精确地确定被控过程模型参数的方法。通过计算机仿真，系统地提出了可适用于多容过程的ＰＩＤ控制器参数快速整定的新方法。该方法简单易行、实用性强。仿真实例表明，该整定方法是可靠的、有效的。     

基于时间尺度的感应电机自抗扰控制器的参数整定

自抗扰控制器(ADRC)在感应电机控制中取得了优良的控制效果, 但控制器参数整定比较困难. 本文从时间尺度的概念入手分析ADRC参数整定问题, 通过理论分析得出感应电机的时间尺度, 并结合时间尺度与ADRC参数的关系进行参数整定, 得到了感应电机按定子磁场定向矢量控制的ADRC控制器参数整定方法, 该方法尤其适于多台电机的参数整定. 仿真结果表明该方法可行, 为感应电机ADRC提供了一种参数整定方法.     

光源跟踪伺服系统模糊PID控制的仿真研究

在光源跟踪控制方面，采用传统PID控制器的响应速度、调整时间和稳定性等存在一定不足。该文利用模糊控制原理，采用模糊推理的方法，实现对PID控制器的参数在线整定，并利用MATLAB工具箱，对光源跟踪伺服系统进行仿真研究。仿真结果表明，对于固定特性的对象或变结构对象，相对于常规PID控制，采用参数模糊白整定的PID控制器能使超调和反应时间大幅减小，为在实际应用中进一步提高光源跟踪速度和精度提供了理论依据。     

Improving the dynamic response of neural network controllers usingvelocity reference feedback

A neural network controller designed solely based on the desired response of the dynamics to realize a maximum acceptable steady-state error may not be the best one in terms of the transient responses. It may have an excessive overshoot and larger risetime. Similarly, a controller having a very good transient response may not have the desired steady-state characteristics. The effectiveness of using a velocity reference feedback for improving the dynamic response of the neural network controllers is investigated. Using the direct control scheme, on an underwater vehicle with nonlinear dynamics, it is shown that specific improvements in overshoot, risetime, and settling time can be achieved using this method.     

重介质密度调节自适应神经元控制器

文章针对选煤厂重介质密度的自动调节系统设计了一种自适应神经元控制器。仿真比较显示 :神经元控制器的参数通过自适应不断调整 ,可以达到比PID更好的控制效果。     

Arbitrary settling time control with prescribed performance for high-order nonlinear systems

This paper studies an arbitrary convergence time tracking controller design problem for high-order nonlinear systems. Our aim is to enhance the existing free-will arbitrary time control (FATC), which cannot track time-varying reference signals. To do so, a new nonautonomous equation is firstly introduced to enable an arbitrary settling time stability for one-order systems. Then, a prescribed performance control (PPC) technology is integrated for general high order systems. By a backstepping Lyapunov analysis with iteratively contructed nonautonomous equations, it is proved that the closed-loop system satisfies the prescribed performance and all signals of the closed-loop system are arbitrary settling time stable (ASTS). Compared with the existing results, the tracking control problem with arbitrary convergence time is addressed by a continuous control law, which shows a better transient performance also. Simulation results confirm the effectiveness of the proposed control method.     

一种新型多变量模糊自适应控制系统的研究

针对多变量非线性系统,提出了一种基于动态耦合特性的两级串联结构的模糊自校正控制器,并提出了基于动态灵敏度矩阵和在线测量的自学习算法．同时利用一种智能梯度法确定自校正学习迭代步长．仿真结果表明,算法的收敛性和系统的稳定性均有所改善．利用这些控制策略,可以较好地解决化工反应器等复杂对象的过程控制问题     

传感器实时自校准/自补偿技术的研究

提出了对传感器进行实时自校准／自补偿的一种新方法。首先从原理上进行分析论证,给出了用单片机系统对传感器进行自校准／自补偿的方案,并提供了相应的实验数据,证明所提出的自校准／自补偿方法是切实可行的。     

A fast settling servo controller for high-density disk drives

During seek operation in disk drives, the recording head is moved toward desired track by seek servo controller and then is settled onto the center of the desired track by settling servo controller. If the head speed at the start of settling servo controller is not slow, it may produce overshoot relative to the center of track and thus extend settling time. The degradation in settling performance will be more severe as the track width becomes smaller for high track density. In this paper we discuss the design of settling servo controller which provides fast settling performance without creating overshoot. It is well known that transient response will be much faster if slow poles are canceled out properly. In order to cancel unwanted poles, we apply a sequence of weighted discrete pulse signals to the system in addition to the state feedback control. For exact pole-zero cancellation, we consider the dynamics of power amplifier used for actuator current regulation and the effects of delay in control action. In addition, we present system parameter identification algorithm for the robustness of our controller to system parameter variation. In order to demonstrate the practical use of our controller, we present experimental results obtained by using a commercially available disk drive.This work was supported by the Nuclear Academic Research Program of the Ministry of Science and Technology in Korea.     

A Design Of Multiloop Predictive Self‐Tuning Pid Controllers

In this paper, a new design scheme of multiloop predictive self‐tuning PID controllers is proposed for multivariable systems. The proposed scheme firstly uses a static pre‐compensator as an approximately decoupling device, in order to roughly reduced the interaction terms of the controlled object. The static matrix pre‐compensator is adjusted by an on‐line estimator. Furthermore, by regarding the approximately decoupled system as a series of single‐input single‐output subsystems, a single‐input single‐output PID controller is designed for each subsystem. The PID parameters are calculated on‐line based on the relationship between the PID control and the generalized predictive control laws. The proposed scheme is numerically evaluated on a simulation example.     

Continuous Fixed‐Time Controller Design for Dynamic Systems with Unmeasurable States Subject to Unbounded Disturbances

This paper presents a nonlinear continuous observer‐based controller that provides fixed‐time convergence to the origin (a vicinity of the origin) of a higher‐order dynamic system subject to unbounded disturbances, whose only measurable state is the highest relative degree one. The settling time estimation problem is solved computing an uniform upper bound of the fixed convergence time of the designed controller. Finally, the designed algorithm is verified in a case study of an industrial armature‐controlled DC motor.     

一种基于CMAC的自学习控制器

现有的基于CMAC的自学习控制器能够有效地减小跟踪误差,但是在跟踪连续变 化信号如正弦波时,由于累积误差的影响会产生过学习现象,进而导致系统的不稳定.为此, 提出一种新的基于CMAC的自学习控制器,它以系统的动态误差作为CMAC的激励信号, 从而避免了累积误差的影响.仿真结果表明,该控制器不仅是有效的,而且具有很强的鲁棒 性.此外,它可以使用较高的学习速率,实时性强.