基于LabVIEW的神经网络自适应逆控制系统

目前基于人工神经网络的非线性自适应逆控制研究主要集中在Matlab仿真研究方面,无法直接推广为实际应用。为此,采用基于LabVIEW的动态神经网络非线性自适应逆控制方法,首先在LabVIEW中建立动态神经网络结构及在线学习算法,并依此建立非线性对象的辨识器和逆控制器等模型;然后构建完整的非线性对象自适应逆控制系统,并在LabVIEW环境中通过仿真验证了系统性能。通过配置相应的数据采集设备,该系统可以直接推广为实际应用。     

Neural network controller with flexible structure based on feedback-error-learning approach

In practice, the back-propagation algorithm often runs very slowly, and the question naturally arises as to whether there are necessarily intrinsic computation and difficulties with training neural networks, or better training algorithms might exist. Two important issues will be investigated in this framework. One establishes a flexible structure, to construct very simple neural network for multi-input/output systems. The other issue is how to obtain the learning algorthm to achieve good performance in the training phase. In this paper, the feedforward neural network with flexible bipolar sigmoid functions (FBSFs) are investigated to learn the inverse model of the system. The FBSF has changeable shape by changing the values of its parameter according to the desired trajectory or the teaching signal. The proposed neural network is trained to learn the inverse dynamic model by using back-propagation learning algorithms. In these learning algorithms, not only the connection weights but also the sigmoid function parameters (SFPs) are adjustable. The feedback-error-learning is used as a learning method for the feedforward controller. In this case, the output of a feedback controller is fed to the neural network model. The suggested method is applied to a two-link robotic manipulator control system which is configured as a direct controller for the system to demonstrate the capability of our scheme. Also, the advantages of the proposed structure over other traditional neural network structures are discussed.     

一种基于DTFEL的非线性自适应逆控制

提出一种基于离散时间反馈误差学习(DTFEL)的两自由度非线性自适应逆控制(AIC)方法,其控制器由动态RBF神经网络(DRBFNN)前馈控制器和参数固定的PD反馈控制器构成.PD控制器用来保证闭环系统稳定,动态RBF神经网络以PD控制器输出和反馈误差的线性组合为学习信号,通过一种改进的NLMS(VS MNLMS)算法在线学习和逼近对象的动态逆,提高反馈控制器的性能.稳定性分析证明了该AIC系统稳定.数字仿真结果表明,该AIC具有良好的自适应能力和鲁棒性,是一种有效的非线性控制方法.     

Application of neural networks to temperature control in thermal power plants

In a thermal power plant with once-through boilers, it is important to control the temperature at the middle point where water becomes steam. However, there are many problems in the design of such a control system, due to a long system response delay, dead-zone and saturation of the actuator mechanisms, uncertainties in the system model and/or parameters, and process noise. To overcome these problems, an adaptive controller has been designed using neural networks, and tested extensively via simulations.

One of the key problems in designing such a controller is to develop an efficient training algorithm. Neural networks are usually trained using the output errors of the network, instead of using the output errors of the controlled plant. However, when a neural network is used to control a plant directly, the output errors of the network are unknown, since the desired control actions are unknown. This paper proposes a simple training algorithm for a class of nonlinear systems, which enables the neural network to be trained with the output errors of the controlled plant. The only a priori knowledge of the controlled plant is the direction of its output response. Due to its simple structure and algorithm, and good performance, the proposed controller has high potential for handling difficult problems in process-control systems.     

神经网络非线性多步预测逆控制方法研究*

提出了基于多步预测控制方法的多变量非线性神经网络逆控制方案。利用预测模型对系统动态特性进行预测,使用一个带有时延因子的前馈神经网络作为控制器,利用多步预测性能指标对其在线训练,实现神经网络逆系统;在多步预测过程中还对每一步的预测误差进行预测,以实现预测误差补偿。将所提出的控制算法用于锅炉这种大滞后非线性对象的控制,仿真实验证明,该控制策略具有良好的解耦和动态跟踪性能。     

基于预测控制方法的非线性神经网络逆控制

针对一类多输入多输出非线性被控对象,利用前向神经网络逼近原系统的逆系统,将其作为控制器,采用预测滚动优化性能指标训练该神经网络逆控制器,以克服干扰和不确定性影响,实现对多变量非线性对象的解耦控制。对某微型锅炉对象进行了控制算法仿真,结果表明,所提出的控制方法能够克服模型误差的影响,实现稳定解耦控制,且易于实现。在仿真过程中通过实验方法建立该锅炉对象的神经网络预测模型,并注意采用泛化方法采集训练样本数据和训练神经网络,以提高神经网络模型的泛化能力。     

Iterative inversion of neural networks and its application toadaptive control

An iterative constrained inversion technique is used to find the control inputs to the plant. That is, rather than training a controller network and placing this network directly in the feedback or feedforward paths, the forward model of the plant is learned, and iterative inversion is performed on line to generate control commands. The control approach allows the controllers to respond online to changes in the plant dynamics. This approach also attempts to avoid the difficulty of analysis introduced by most current neural network controllers, which place the highly nonlinear neural network directly in the feedback path. A neural network-based model reference adaptive controller is also proposed for systems having significant dynamics between the control inputs and the observed (or desired) outputs and is demonstrated on a simple linear control system. These results are interpreted in terms of the need for a dither signal for on-line identification of dynamic systems.     

Real‐Time Results for High Order Neural Identification and Block Control Transformation Form Using High Order Sliding Modes

In this paper, real‐time results for a novel continuous‐time adaptive tracking controller algorithm for nonlinear multiple input multiple output systems are presented. The control algorithm includes the combination of a recurrent high order neural network with block control transformation using a high order sliding modes technique as control law. A neural network is used to identify the dynamic plant behavior where a filtered error algorithm is used to train the neural identifier. A decentralized high order sliding mode, named the twisting algorithm, is used to design chattering‐reduced independent controllers to solve the trajectory tracking problem for a robot arm with three degrees of freedom. Stability analyses are given via a Lyapunov approach.     

Nonlinear system identification for predictive control using continuous time recurrent neural networks and automatic differentiation

In this paper, a continuous time recurrent neural network (CTRNN) is developed to be used in nonlinear model predictive control (NMPC) context. The neural network represented in a general nonlinear state-space form is used to predict the future dynamic behavior of the nonlinear process in real time. An efficient training algorithm for the proposed network is developed using automatic differentiation (AD) techniques. By automatically generating Taylor coefficients, the algorithm not only solves the differentiation equations of the network but also produces the sensitivity for the training problem. The same approach is also used to solve the online optimization problem in the predictive controller. The proposed neural network and the nonlinear predictive controller were tested on an evaporation case study. A good model fitting for the nonlinear plant is obtained using the new method. A comparison with other approaches shows that the new algorithm can considerably reduce network training time and improve solution accuracy. The CTRNN trained is used as an internal model in a predictive controller and results in good performance under different operating conditions.     

Adaptive neural sliding mode compensator for a class of nonlinear systems with unmodeled uncertainties

This paper addresses the problem of adaptive neural sliding mode control for a class of multi-input multi-output nonlinear system. The control strategy is an inverse nonlinear controller combined with an adaptive neural network with sliding mode control using an on-line learning algorithm. The adaptive neural network with sliding mode control acts as a compensator for a conventional inverse controller in order to improve the control performance when the system is affected by variations in its entire structure (kinematics and dynamics). The controllers are obtained by using Lyapunov's stability theory. Experimental results of a case study show that the proposed method is effective in controlling dynamic systems with unexpected large uncertainties.     

Design of an intelligent prediction-based neural network controller for multi-scroll chaotic systems

An indispensable part of the precise control of multi-scroll chaotic systems, model identification has received increasing attention in recent years. Because of plant uncertainty and unmodeled dynamics, conventional control methods cannot guarantee a sufficiently high-performance for stabilizing multi-scroll chaotic systems. In an effort to tackle the matter better, we propose an intelligent controller called the adaptive neural network prediction-based controller (NN-PbC ). The specified neural network is trained with the system model, which is extracted from a time series. In actual practice, the data are divided into two sets. One set is used for training and the other set for testing. In fact, a generalized NN will perform well for both training and testing data. The prediction-based control method is then applied to the obtained neural network model to stabilize the multiple equilibrium points. The stability of the closed-loop system is proven. In addition, simulation examples on two typical multi-scroll chaotic systems are presented to demonstrate the effectiveness of the proposed controller.     

Artificial neural networks in vibration control of rotor-bearing systems

A neural network controller is described and implemented for controlling the vibration of a rotor-bearing system. A multi-layered neural network is used to model the inverse dynamics or the rotor-bearing system on-line. It is learnt by a backpropagation algorithm, and a delta rule, in which the difference between the actual control input to the plant, which is generated from the neural controller, and the input estimated from the inverse-dynamics model by using an actual plant output, is minimized. The results show a satisfactory diminished response of the rotor-bearing system when the controller is applied to the system.     

基于神经网络监督控制的拥塞控制算法研究

提出了一个基于神经网络控制的主动队列管理（AQM）算法;研究了TCP/AQM拥塞控制系统的可逆性,并利用一种神经网络监督控制结构进行了AQM算法的设计。算法由一个三层前馈结构的神经网络控制器（neural network controller,NNC）和一个反馈控制器（feedback controller,FC）组成。NNC作为一个前馈控制器,通过FC产生的教师信号进行学习,以建立被控对象的逆动力学模型。仿真结果表明,提出的算法与PI（proportional-integral）算法相比,无论在瞬态性能     

步进梁加热炉神经网络模型预测控制

针对步进梁式连续加热炉燃烧过程控制的温度分布非线性和滞后性,提出了一种基于非线性优化技术的神经网络模型预测控制算法。神经网络具有强大的自学习和非线性映射能力,把神经网络预测模型和非线性优化器整合为一个温度控制器,通过神经网络预测模型描述温度控制对象的动态行为,根据加热炉当前温度和出钢温度预测未来时刻的温度输出值,实现加热炉温度控制。实验结果表明,通过对网络模型进行大样本训练和对模型预测控制参数的优化,加热炉温度控制系统能快速达到控制要求,具有良好的抗干扰能力和温度跟随性能。     

时变过程的神经网络鲁棒自适应控制

目前在国际上ＢＥＮＣＨＭＡＲＫ控制研究已成为热点。本文在常规逆动态控制器的输入端增加控制偏差，并对时变系统神经网络的同一输入参数先集中在１个节点上以产生该类参数的综合作用，     

Real-time torque control using discrete-time recurrent high-order neural networks

This paper presents a discrete-time direct current (DC) motor torque tracking controller, based on a recurrent high-order neural network to identify the plant model. In order to train the neural identifier, the extended Kalman filter (EKF) based training algorithm is used. The neural identifier is in series-parallel configuration that constitutes a well approximation method of the real plant by the neural identifier. Using the neural identifier structure that is in the nonlinear controllable form, the block control (BC) combined with sliding modes (SM) control techniques in discrete-time are applied. The BC technique is used to design a nonlinear sliding manifold such that the resulting sliding mode dynamics are described by a desired linear system. For the SM control technique, the equivalent control law is used in order to the plant output tracks a reference signal. For reducing the effect of unknown terms, it is proposed a specific desired dynamics for the sliding variables. The control problem is solved by the indirect approach, where an appropriate neural network (NN) identification model is selected; the NN parameters (synaptic weights) are adjusted according to a specific adaptive law (EKF), such that the response of the NN identifier approximates the response of the real plant for the same input. Then, based on the designed NN identifier a stabilizing or reference tracking controller is proposed (BC combined with SM). The proposed neural identifier and control applicability are illustrated by torque trajectory tracking for a DC motor with separate winding excitation via real-time implementation.     

输出非对称死区的非严格反馈非线性系统控制

本文研究了具有输出非对称死区和状态含未知控制方向的非严格反馈非线性系统, 设计了稳定的自适应 神经网络控制器. 首先, 针对输出非对称死区的问题, 本文采用死区逆的方法, 构造光滑模型逼近原死区模型. 其 次, 在控制器设计过程中, 基于障碍Lyapunov函数的构造, 动态面控制和反步法, 设计出自适应控制信号, 虚拟控制 信号和实际控制信号. 通过稳定性分析, 证明所设计的神经网络控制器可以保证闭环系统内所有信号是半全局一致 最终有界. 最后, 通过MATLAB数值仿真, 说明所设计控制器的有效性.     

A novel neural approximate inverse control for unknown nonlinear discrete dynamical systems.

A novel neural approximate inverse control is proposed for general unknown single-input-single-output (SISO) and multi-input-multi-output (MIMO) nonlinear discrete dynamical systems. Based on an innovative input/output (I/O) approximation of neural network nonlinear models, the neural inverse control law can be derived directly and its implementation for an unknown process is straightforward. Only a general identification technique is involved in both model development and control design without extra training (online or offline) for the neural nonlinear inverse controller. With less approximation made on controller development, the control will be more robust to large variations in the operating region. The robustness of the stability and the performance of a closed-loop system can be rigorously established even if the nonlinear plant is of not well defined relative degree. Extensive simulations demonstrate the performance of the proposed neural inverse control.     

Supervisory recurrent fuzzy neural network control of wing rock for slender delta wings

Wing rock is a highly nonlinear phenomenon in which an aircraft undergoes limit cycle roll oscillations at high angles of attack. In this paper, a supervisory recurrent fuzzy neural network control (SRFNNC) system is developed to control the wing rock system. This SRFNNC system is comprised of a recurrent fuzzy neural network (RFNN) controller and a supervisory controller. The RFNN controller is investigated to mimic an ideal controller and the supervisory controller is designed to compensate for the approximation error between the RFNN controller and the ideal controller. The RFNN is inherently a recurrent multilayered neural network for realizing fuzzy inference using dynamic fuzzy rules. Moreover, an on-line parameter training methodology, using the gradient descent method and the Lyapunov stability theorem, is proposed to increase the learning capability. Finally, a comparison between the sliding-mode control, the fuzzy sliding control and the proposed SRFNNC of a wing rock system is presented to illustrate the effectiveness of the SRFNNC system. Simulation results demonstrate that the proposed design method can achieve favorable control performance for the wing rock system without the knowledge of system dynamic functions.     

双馈风力发电机系统的自抗扰神经网络的励磁控制

在双馈发电机传统控制方式的基础上, 将自抗扰控制技术和BP神经网络相结合结合, 应用于双馈风力发电机并网运行的控制上, 提出了一种新的双馈风力发电机并网运行控制方案. 该控制方案具有内外两个控制环, 内环通过BP神经网络实现双馈风力发电机的转子d-q轴电流控制, 外环通过自抗扰技术实现双馈风力发电机定子侧的有功、无功控制. 由于自抗扰控制器利用一阶跟踪微分器和扩张状态观测器对系统扰动进行动态跟踪补偿, 在此基础上输出双馈电机转子交--直轴电流的参考值, 然后将该参考值作为BP神经网络训练样本的输入, 训练后的BP神经网络可以更好地逼近实际转子电压输出量. 论文设计并实现了该方案的具体控制算法. 仿真测试表明: 该控制方案具有优良的动态性能, 对系统的内外扰动具有较强的鲁棒性, 在没有精确的发电机参数情况下依然可实现并网系统的稳定运行.