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为了利用PID控制获得先进的控制性能,将广义预测控制(GPC)用于PID参数的实时优化,在此基础上提出了一种新的基于GPC的自适应PID控制器的设计方法.该PID控制器具有时变的比例增益,并且PID控制器的设计利用了GPC的未来参考输入.因此,GPC控制律能由设计的PID控制器精确实现.为使GPC控制器稳定地获得比例增益,采用了基于互质因子分解扩展的强稳定GPC,独立于利用标准GPC设计的闭环系统而重新设计GPC控制器,保证了闭环系统的稳定性.此外,利用递推最小二乘法对系统进行在线辨识,修正模型参数,增强了系统的抗扰性.以一阶时滞非最小相位系统为被控对象,在Matlab中对该设计方法进行了仿真,仿真结果验证了该方法的有效性. 相似文献
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将PID反馈原理引入广义预测控制(GPC)思想,把GPC目标性能函数改造成具有PI的结构形式,根据反馈时延导出多步控制序列,通过时延补偿器对前向时延进行补偿,使控制性能在网络环境下得到极大改善。控制器结合了PID控制和预测控制的优点,具有较强的鲁棒性和工程意义。构造Lyapunov函数对闭环系统的稳定性进行分析,并通过仿真验证了该算法的有效性。 相似文献
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比例–积分控制加广义预测控制算法及其应用 总被引:1,自引:0,他引:1
针对比例–积分(proportional-integral, PI)控制因不能预测未来输出而提前改变控制量使其用于光电稳定伺服系统时往往响应剧烈的问题,研究了光电稳定伺服系统的广义预测控制(generalized predictive control, GPC).首先通过证明受控自回归积分滑动平均(controlled auto-regressive integral moving-average, CARIMA)模型的直接递推预测与Diophantine方程预测等价,提出了预测较快的模型等价预测GPC算法,其预测复杂度比原GPC降低了一个阶次.其次通过对PI和GPC的特点进行分析,综合考虑两者的优缺点,提出了一种新型的基于PI增量和GPC增量加权的比例积分控制加广义预测控制(proportional-integral control plus generalized predictive control, PI+GPC)算法,实现了基于历史、当前和未来偏差计算控制量,并给出了算法设计流程和参数选取规则.最后通过仿真并在某光电稳定伺服平台上验证后得出, PI+GPC和PI相比稳定精度有所提高,且平稳性和快速性大为改善. 相似文献
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网络控制系统的自整定PID 控制器设计 总被引:1,自引:0,他引:1
结合广义预测控制(GPC)方法和PID反馈结构,设计了一种具有预测功能的PID控制器,PID参数根据未来时刻的预计输出误差进行整定.控制器导出多步控制序列,置于执行器端的延迟补偿器根据网络时延从控制序列中选择控制信息并作用于控制对象,从而对时延进行补偿,使控制性能得到极大改善.控制器结合了PID控制和预测控制的优点,具有较强的鲁棒性和工程意义.最后通过构造Lyapunov函数对闭环系统的稳定性进行了分析,并通过仿真验证了该算法的有效性. 相似文献
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网络控制系统补偿器设计及稳定性分析 总被引:2,自引:0,他引:2
为解决网络延时对网络化控制系统性能的影响, 从控制的角度提出基于系统模型的补偿器设计方案以解决网络延时问题. 通过对广义预测控制算法GPC状态空间形式的推导, 设计具有多步预测功能的网络控制器, 实现前向通道的延时补偿; 构造具有延时补偿功能的状态观测器以补偿反馈通道延时. 分析了使用上述延时补偿策略所构成的闭环网络控制系统的稳定性. 通过对不同网络延时补偿的仿真实验, 证实了该补偿算法能有效改善控制系统性能并保持系统的稳定. 相似文献
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This paper presents a new approach to robust controller tuning for nonlinear systems. The main idea is to apply numerical bifurcation analysis to the closed-loop process, using the controller tuning parameters, the set points, and parameters describing model uncertainty (parametric as well as unmodeled dynamics) as bifurcation parameters. By analyzing the Hopf bifurcation and saddle-node bifurcation loci, bounds on the controller parameters are identified. These bounds depend upon the type as well as the degree of mismatch that exists between the plant and the model used for controller design.The method is illustrated by tuning a state feedback linearizing controller for an unstable reactor as well as by comparing a proportional-integral (PI) controller and a state feedback linearizing controller applied to a continuously operated fermenter. The feedback linearizing controller can result in better performance than the PI controller if a very accurate model of the process is known and if the operating conditions vary over a significant range. However, stability properties of systems controlled by feedback linearizing controllers can degrade significantly as the mismatch between the plant and the model increases. This is illustrated in the fermenter example by showing that bounds on the tuning parameter of the feedback linearizing controller are significantly tighter than the ones for the PI controller. 相似文献
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基于Popov定理的输入非线性广义预测控制系统的稳定性分析 总被引:2,自引:1,他引:2
对存在输入饱和约束和输入可逆静态非线性的系统,采用两步法广义预测控制策略.
首先用线性广义预测控制策略得到中间变量,代表期望的控制作用,然后用解方程方法补偿可逆
静态非线性并用解饱和方法满足饱和约束,得到实际的控制作用.两步法计算简单,特别适用于
快速控制的场合.将该控制系统闭环结构转化为静态非线性增益反馈结构,利用Popov定理分
析了该系统的闭环稳定性,得到了稳定的充分条件,并具体给出了有效的控制器参数确定算法使
得稳定性结论具备实用的价值.给出了算例验证了稳定条件. 相似文献
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广义预测控制系统的若干稳定性结果 总被引:4,自引:2,他引:4
本文利用广义预测控制的在内模控制结构下从象至闭环特征多项式的系数映射关系,讨论了在一定参选取条件下的系统闭环稳定性的问题,并给出了根据阶跃响应系数确保稳定性的参数设计条件。 相似文献
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一类不确定系统基于滑模干扰补偿的广义预测控制 总被引:2,自引:1,他引:1
广义预测控制(GPC)是基于非线性机理模型的一种优化控制策略, 但当系统存在内部不确定性、建模动态误差和外部干扰的情况下, 采用基于标称系统模型的GPC方法的系统性能将显著下降. 为此, 针对一类不确定非线性系统, 首先分析设计了一种基于不确定模型的理想GPC控制律; 同时设计了一种滑模干扰补偿器(SMDC)对系统的复合干扰进行估计, 将其输出作为补偿控制与标称GPC控制律结合以消除不确定性和外干扰的影响, 并利用Lyapunov理论分析了闭环复合系统的性能; 最后将其应用于一种高超声速飞行器(HSV)姿态控制系统, 仿真结果表明该方法具有很好的鲁棒特性和干扰衰减特性. 相似文献
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This paper presents a simple, but effective, design method for decentralized PI control systems with guaranteed closed-loop stability. Nyquist stability conditions are used to derive the stability region for each PI controller in terms of the controller parameters. A detuning factor for each loop is specified based on a diagonal dominance index. Then appropriate controller settings are determined using this index and the stability region. Simulation results for a variety of 2 × 2, 3 × 3, and 4 × 4 systems demonstrate that the proposed design method guarantees closed-loop stability and provides good set-point and load responses. 相似文献
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Adaptive-Predictive Control of a Class of SISO Nonlinear Systems 总被引:5,自引:0,他引:5
In this paper, an adaptive-predictive control algorithm is developed for a class of SISO nonlinear discrete-time systems based on a generalized predictive control (GPC) approach. The design is model-free, based directly on pseudo-partial-derivatives derived on-line from the input and output information of the system using a recursive least squares type of identification algorithm. The proposed control is especially useful for nonlinear systems with vaguely known dynamics. Robust stability of the closed-loop system is analyzed and proven in the paper. Simulation and real-time application examples are provided for real nonlinear systems which are known to be difficult to model and control. 相似文献
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Stability analysis of generalized predictive control based on Kleinman's controllers 总被引:1,自引:0,他引:1
DING Baocang & XI Yugeng Institute of Automation Shanghai Jiaotong University Shanghai China Correspondence should be addressed to Xi Yugeng 《中国科学F辑(英文版)》2004,47(4):458-474
Modelpredictivecontrol(MPC)hasbeenwidelystudiedbecauseofitsapplicabil-itytoindustrialprocesses.TheoriginalformulationofMPCdoesnotguaranteeclosed-loopstabilitybecauseitusesfinitehorizonoptimization.Theexplicitrelationshipbetweentheclosed-loopstabilityandthetuningparametersisdifficulttofindevenforunconstrainedlinearsystems,asthesetuningparametersarehiddenintheclosed-loopcharacteristicpolynomial[1].Afterthe1990s,aseriesofnew-styleMPCswithguaran-teedstability,suchasMPCwithterminalequalitycons… 相似文献
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带有噪声滤波器的GPC鲁棒性分析 总被引:3,自引:0,他引:3
利用在一般形式的CARIMA模型和性能指标下的GPC闭环系统表达式,从结构上阐明了由模型失配所带来的鲁棒稳定性问题的实质,分析了噪声滤波器设计对于闭环系统鲁棒性的影响,并针对几种典型参数设计所确定的闭环系统给出了增益失配界。 相似文献
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This work focuses on deriving the necessary and sufficient stability condition of transmission control protocol (TCP) network with a proportional-integral (PI) active queue management(AQM) scheme via a parameter space approach. First,a fluid-flow TCP's nonlinear model is converted into a lin- ear time-delay system of neutral type.Second,the stability of the closed-loop system is characterized in terms of the network's and the controller's parameters.By simulation studies we inves- tigate the boundary's relations of these two kinds of parameters in the parameter space and illustrate how PI controller's parame- ters affect the stability.Finally,different stability conditions are compared to show the less conservatism of our necessary- and sufflcient-condition-based method,and simulation experiments by both Matlab and NS-2 are conducted to prove our claim. 相似文献