一种离-在线混合数据驱动控制方法及其在直流电动机中的应用

针对离线和在线数据驱动控制方法各自存在的不足,提出一种离-在线混合数据驱动控制方法。首先给出一种基于最小二乘支持向量机和虚拟目标值反馈整定的离线数据驱动控制方法;其次在二自由度控制系统框架下,结合无模型自适应控制,给出一种离-在线混合数据驱动控制方法的结构和设计步骤。该方法跳过被控对象建模过程,大大降低了控制器设计成本,且可避免引入模型误差。将该方法应用于直流电动机离-在线数据驱动控制中,并进行了仿真实验,结果表明,离-在线混合数据驱动控制方法可以有效地实现目标信号跟踪和电动机系统的不确定(外部扰动)抑制。

A Control Method of Offline-online Hybrid Data-driven and Its Application in DC Motor

For shortcomings of control methods of offline and online data-driven,the paper presented a control method of offline-online hybrid data-driven.First it gave an offline data-driven control method based on the least squares support vector machine and virtual reference feedback tuning,then gave control structure and design steps of the control method of offline-online hybrid data-driven combined with model-free adaptive control in the framework of two degrees of freedom control system.The proposed method skips the process of charged object modeling,greatly reduces cost of controller design,and avoids introduction of model error.Applying the method in offline-online data-driven of DC motor,the simulation result showed that the method can achieve target signal tracking and uncertainty(external disturbance) inhibiting of motor system effectively.