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基于T-S模型的PID控制器的设计 总被引:1,自引:0,他引:1
针对普通PID调节器参数调节复杂,当被控系统性能发生变化时PID调节器的参数不能自适应地进行调整的缺点,提出了一种基于Takagi和Sugeno模糊控制模型的PID控制器.这种控制器将模糊控制器和PID控制器的优点有效地结合起来,它的前件采用模糊推理的方法将基于语言变量的专家经验转化为T-S模型的模糊规则,它的后件采用PID形式输出.通过对一个带有延时环节的一阶系统进行仿真,并将仿真结果与常规PID以及普通模糊调节器进行比较,结果表明,该控制器对系统的静态和动态性能有很大的改进. 相似文献
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针对传统PI双闭环直流电机调速系统存在响应速度慢、超调量大、抗干扰能力及自适应能力差等问题,提出了一种双闭环直流电机调速系统的神经元PID转速调节器设计方法。该转速调节器采用神经元控制器和比例控制相结合进行设计,从而构成了一种具有自学习、自适应能力的神经元PID控制器,然后与传统单神经元PID设计的转速调节器控制效果进行了对比。结果表明,基于神经元PID转速调节器的双闭环直流电机调速系统具有较快的响应速度、良好的动态和静态稳定性、较强的自适应能力和抗干扰能力。 相似文献
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线性二次型最优调节器的权矩阵选择问题至今尚未得到较好解决。本文由多变量二阶系统定义导出最优PID调节器,然后利用多变量根轨迹设计最优PID调节器,给出构造Q、R矩阵的一种方法。 相似文献
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通过试验推导出发酵温控系统的开环传递函数,并且建立了系统的数学模型,同时引入PID控制算法。通过多种PID算法的比较仿真,设计了具有较好特性的PID调节器。 相似文献
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通过设计一种产生可行解的状态发生器,由该状态发生器产生的新状态均满足所有的约束条件,从而方便地处理约束条件,并提出一种求解桁架形状优化设计问题的改进的模拟退火算法。算例表明该方法能获得较高质量的解,具有现实的工程意义,同时指出改进的SA算法用于桁架形状优化问题得不到全局最优解。 相似文献
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This paper aims to address the leader–follower regulation problem of multi-agent systems with directed network topologies, where the agents are described by feedforward nonlinearities with the growth rate being unknown a priori. Both the state feedback regulation protocol and the output feedback regulation protocol are delicately constructed such that all the states of followers can converge to the leader state globally. In this paper, a model transformation is firstly performed and the leader–follower regulation problem can be transformed into a general regulation problem. Then, by introducing an appropriate state transformation, the regulation problem can be changed into a parameter determined problem. It is proved that the parameter can be determined by both the properties of M-matrices and the estimates of nonlinear terms. Finally, a numerical example is presented to show the feasibility of designed protocols. 相似文献
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In our early work, we show that one way to solve a robust control problem of an uncertain system is to translate the robust control problem into an optimal control problem. If the system is linear, then the optimal control problem becomes a linear quadratic regulator (LQR) problem, which can be solved by solving an algebraic Riccati equation. In this article, we extend the optimal control approach to robust tracking of linear systems. We assume that the control objective is not simply to drive the state to zero but rather to track a non-zero reference signal. We assume that the reference signal to be tracked is a polynomial function of time. We first investigated the tracking problem under the conditions that all state variables are available for feedback and show that the robust tracking problem can be solved by solving an algebraic Riccati equation. Because the state feedback is not always available in practice, we also investigated the output feedback. We show that if we place the poles of the observer sufficiently left of the imaginary axis, the robust tracking problem can be solved. As in the case of the state feedback, the observer and feedback can be obtained by solving two algebraic Riccati equations. 相似文献
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Piecewise-affine state feedback for piecewise-affine slab systems using convex optimization 总被引:3,自引:0,他引:3
This paper shows that Lyapunov-based state feedback controller synthesis for piecewise-affine (PWA) slab systems can be cast as an optimization problem subject to a set of linear matrix inequalities (LMIs) analytically parameterized by a vector. Furthermore, it is shown that continuity of the control inputs at the switchings can be guaranteed by adding equality constraints to the problem without affecting its parameterization structure. Finally, it is shown that piecewise-affine state feedback controller synthesis for piecewise-affine slab systems to maximize the decay rate of a quadratic control Lyapunov function can be cast as a set of quasi-concave optimization problems analytically parameterized by a vector. Before casting the synthesis in the format presented in this paper, Lyapunov-based piecewise-affine state feedback controller synthesis could only be formulated as a bi-convex optimization program, which is very expensive to solve globally. Thus, the fundamental importance of the contributions of the paper relies on the fact that, for the first time, the piecewise-affine state feedback synthesis problem has been formulated as a convex problem with a parameterized set of LMIs that can be relaxed to a finite set of LMIs and solved efficiently to a point near the global optimum using available software. Furthermore, it is shown for the first time that, in some situations, the global can be exactly found by solving only one concave problem. 相似文献
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针对存在传输滞后的线性离散系统的状态反馈镇定问题,给出了系统可镇定的一个内部限制条件.为克服这一限制条件,提出了两种方法:一种是充分利用滞后状态的信息,另一种是设计带有递推动态的状态反馈控制器.研究结果表明,若系统在没有传输滞后时能通过状态反馈被镇定,则存在传输滞后时一定也能通过设计新的控制器使系统被镇定. 相似文献
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In this paper we consider the stochastic optimal control problem of discrete-time Markov jump with multiplicative noise linear systems. The performance criterion is assumed to be formed by a linear combination of a quadratic part and a linear part in the state and control variables. The weighting matrices of the state and control for the quadratic part are allowed to be indefinite. We present a necessary and sufficient condition under which the problem is well posed and a state feedback solution can be derived from a set of coupled generalized Riccati difference equations interconnected with a set of coupled linear recursive equations. For the case in which the quadratic-term matrices are non-negative, this necessary and sufficient condition can be written in a more explicit way. The results are applied to a problem of portfolio optimization. 相似文献
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This paper is concerned with the leader-follower consensus problem by using both state and output feedback for a class of nonlinear multi-agent systems. The agents considered here are all identical upper-triangular nonlinear systems which satisfy the Lipschitz growth condition. First, it is shown that the leader-follower consensus problem is equivalent to the control design problem of a high-dimensional multi-variable system. Second, by introducing an appropriate state transformation, the control design problem can be converted into the problem of finding a constant parameter, which can be obtained by solving the Lyapunov equation and estimating the nonlinear terms of the given system. At last, an example is given to verify effectiveness of the proposed consensus algorithms. 相似文献
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研究了线性系统基于二次型指标的最优状态观测器和最优状态反馈控制器的设计问题.将观测状态的状态反馈和状态误差的输出反馈分别作为两个对局方,应用微分对策理论研究了系统的最优控制问题.给出了最优状态观测器和基于状态观测器的最优状态反馈控制的存在性条件.将系统的最优状态观测器和最优控制器的设计问题转化为一对Riccati方程的求解问题.研究表明最优状态观测器在一般情况下不存在.并进一步研究了基于状态观测器的次优控制问题,给出了基于LMI的优化算法. 相似文献
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Haifang Li 《国际强度与非线性控制杂志
》2023,33(2):806-819
》2023,33(2):806-819
This article investigates the fixed-time output regulation problem (FxTORP) for linear systems in the presence of input delay. A linear controller consisting of the linear periodic delayed feedback (PDF) gain and the feedforward gain obtained by solving regulator equations is designed, such that FxTORP is addressed. If only the measurable output can be used for feedback, a linear observer with periodic coefficient and artificial delay is designed so that its state converges to the state of the augmented system at a prescribed finite time. Based on the estimated state, the output regulation problem can also be solved by using observer-based output feedback. The most significant advantages of this article are that the PDF gain can be taken as smooth and the output regulation problem is achieved within a prespecified regulation time. Finally, a simulation example is given to substantiate the validity of the proposed approaches. 相似文献