灵敏度约束的自整定最优比例积分控制器

针对一阶延时(FOPDT)模型,考虑到阶跃负载的干扰,以最小化时间乘绝对误差积分或最大积分增益为目标,利用数值优化运算获取比例积分控制器参数.在过程惯性时间与时滞时间之比的大范围内,通过寻优数值拟合出控制器参数调整公式.最后,用双通道继电器闭环测试获取过程信息,建立近似的一阶延时模型来自动整定控制器参数.仿真结果证明了此方法的有效性.     

典型时滞时变过程的鲁棒数字双PI 控制

针对具有时滞时变以及负载干扰等复杂特性的时滞系统，在强时滞鲁棒数字PID控制方法的基础上，结合二自由度的IMC结构，给出一种数字双PI调节器的设计，在已知闭环系统时滞时变范围内，对确定性定值负载干扰的影响实现了无静差鲁棒调节控制。     

自抗扰控制器参数整定与优化方法研究

根据自抗扰控制器(ADRC)对系统按所谓"时间尺度"来进行分类的特点,提出一种基于"时间尺度"模型识别和遗传算法的ADRC参数自整定及优化的方法。仿真表明:用简单线性模型对实际过程"时间尺度"的辨识简便易行。加入惩罚策略的浮点遗传优化算法能高效地完成控制器众多参数的大范围寻优,摆脱了ADRC控制器参数整定和优化对经验的依赖,具有广泛的应用价值。     

Optimal Performance in Tracking Stochastic Signal Under Disturbance Rejection

The analysis method of optimal tracking performance is proposed for multiple‐input multiple‐output (MIMO) linear time‐invariant (LTI) systems under disturbance rejection. An H₂ criterion of the error signal between the output of the plant and the reference signal is used as a measure for the tracking performance. Spectral factorization is applied to obtain the optimal solution of the system tracking error. The explicit expressions are derived for this minimal tracking error with respect to random reference signals under disturbance rejection. It is shown that the nonminimum phase zeros, the zero direction, the unstable poles, the pole direction of a given plant, statistical characteristics of the reference input signal, and disturbance signal have a negative effect on a feedback system's ability to reduce the system error with disturbance rejection. The results show that the optimal tracking performance will further be damaged because of disturbance rejection. Some typical examples are given to illustrate the theoretical results.     

PMSM伺服系统线性自抗扰控制器的参数整定

当自抗扰控制器在工程中应用时,控制器性能和参数整定难易决定了其可推广性.本文阐述了一种将PI控制器改造为线性自抗扰控制器(LADRC)的方法,并给出了参数整定规则.首先,本文对于永磁同步(PMSM)伺服系统位置–速度–电流三闭环控制建立了P+P/I+P/I结构的控制模型,并通过极点配置的方法将控制器参数整定转换...     

基于设定值响应的PI控制系统性能评估

针对一阶惯性具有纯迟延环节的被控对象,利用含PI控制器的反馈控制系统的一组无量纲性能指标,研究了PI反馈控制系统的控制性能和鲁棒特性的评价方法,推导出了各种性能指标的计算方法,划分了控制器的性能等级,给出各等级性能指标的带宽;将性能评价方法推广到二阶惯性加纯迟延的对象,利用性能指标对不同参数下PI控制的二阶对象反馈系统进行控制器性能的评价,仿真研究证明了性能评价方法的正确性和适用性.     

自抗扰控制器在某型伺服跟踪装置中的应用

针对某型伺服跟踪装置对伺服系统跟踪精度高、跟踪速度快及稳定度高的要求以及跟踪装置伺服系统中运动控制卡和驱动器的模型难以建立等问题,本文给出了无模型控制方法-自抗扰控制器在某型伺服跟踪装置伺服控制系统中的设计方法,实现了对伺服控制系统的自抗扰控制.实际应用表明,这种自抗扰控制器不依赖于系统的精确模型,且抗扰性和鲁棒性均优于传统的PID控制器.本文的研究结果对自抗扰控制器应用于实际工程具有重要价值.     

一阶线性自抗扰控制的整定

线性自抗扰控制（linear active disturbance rejection control,LADRC）是解决系统外部不可测扰动和内部未知不确定性的一种新型控制方法。其精髓是将系统的不确定性转化为一个可观测的状态,利用扩张状态观测器进行实时估计,并用状态反馈控制率实时进行补偿。在满足鲁棒度策略和时间乘平方误差积分的约束条件下,首先针对一阶惯性加迟延模型提出了一阶LADRC的整定公式,然后通过典型的基准系统和温度控制实验,对整定公式进行测试,最后与常规的SIMC （simplified internal model control）-PI （proportional-integral）整定方法进行性能比较。仿真结果证明了该一阶LADRC整定公式的可行性,拓展了其在工业控制领域的应用。     

The Indirect Shared Steering Control Under Double Loop Structure of Driver and Automation

Due to the critical defects of techniques in fully autonomous vehicles, man-machine cooperative driving is still of great significance in today’s transportation system. Unlike the previous shared control structure, this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation. In contrast to the tandem indirect shared control, the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles. Besides, the active disturbance rejection controller (ADRC) is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque, wind speed and ground interference etc. Eventually, we validated the advantages of double loop framework through three sets of double lane change and slalom experiments, respectively. Exactly as we expected, the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller, significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller.      

预测PI控制器性能评价与参数整定

控制器的性能评价与参数自整定能极大的提高工业过程的控制性能,目前这个领域的研究越来越受到控制界的重视。针对大滞后过程对象控制中用到的一种预测PI控制器（PPI）,提出了一种性能评价与参数自整定方法。该方法采用一种更精确的继电辨识方法来确定过程参数,并以一种鲁棒稳定性性能指标与绝对误差积分（IAE）性能指标相结合作为性能评价与参数整定的依据。两种性能指标结合的方法,保证了控制器有较强的设定点跟踪能力和噪声抑制能力,并具有很好的鲁棒稳定性。仿真结果表明了该方法的有效性和可行性。     

时序约束下的调度算法

在通讯ASIC设计中,时序行为是设计者考虑的主要目标。高层次综合领域中时序约束下的调度算法对ASIC设计的优化结果起着重要作用。论文在时序约束下的调度算法在算子可调度的前提下通过修正的ASAP与ALAP算法缩小设计的搜索空间,最后通过遗传算法进行优化,得到最优调度方案。根据文中算法建立了一个时序约束下的综合系统,并进行了实验,说明了算法的有效性。     

基于模糊推理的PI控制器参数整定方法

针对常用的PID控制器整定方法应用于高阶、时延、非线性工业对象时,许多整定公式不能获得满意的性能的问题,提出了一种对PI控制器参数进行整定的新方法。通过模糊推理将控制过程分为暂态和稳态,然后调用相应的模糊控制器来求取PI控制器的比例系数和积分系数。该方法既利用了模糊控制对被控对象的数学模型要求弱和抗干扰能力强、响应速度快等优点,也保留了传统PI控制器良好的稳态调节作用,达到了比较理想的控制效果。     

具有输入约束和扰动补偿的四旋翼无人机姿态稳定模型预测控制

为了解决四旋翼无人机飞行过程中的姿态控制问题,考虑受到执行器输入约束和外界未知扰动影响,设计了一种具有输入约束和扰动补偿的四旋翼无人机姿态稳定模型预测控制方法;设计简化的四旋翼无人机姿态动力学模型,降低控制器设计的复杂程度,设计带有输入约束的控制器,模拟饱和输入现象,实现饱和输入下的四旋翼姿态稳定控制;设计风扰观测器,实现对外部未知扰动的估计,有效跟踪外部持续扰动,并由此设计扰动补偿律;围绕代价函数设计带有扰动补偿律的最优控制律,作用于四旋翼姿态系统,实现四旋翼无人机姿态的稳定控制;最后进行数值仿真,设置风扰观测器参数λi为0.25,预测时域Np为10,控制时域Nc为9,仿真测试本文方法与不带观测器的非线性预测控制方法（NMPC）,验证本文控制方法的有效性和优越性。     

资源约束的FPGA流水线调度

循环是程序中十分耗时的部分,流水线能够加速循环执行但需要大量运算资源。由于FPGA资源有限,将循环代码在FPGA上加速时手动设计流水线不具有实际可行性。该文使用软件流水将循环自动映射到FPGA上,并实现资源约束下的流水线调度。通过探索整个或者局部资源组合空间,可以选择一个性能和面积比较平衡的设计。     

具有指定性能和全状态约束的多智能体系统事件触发控制

针对一类非严格反馈的非线性多智能体系统一致性跟踪问题,在考虑全状态约束和指定性能的基础上提出了一种事件触发自适应控制算法.首先,通过设计性能函数,使跟踪误差在规定时间内收敛于指定范围.然后,在反步法中引入Barrier Lyapunov函数使所有状态满足约束条件,结合动态面技术解决传统反步法产生的"计算爆炸"问题,并利用径向基函数神经网络（Radial basis function neural networks,RBF NNs）处理系统中的未知非线性函数.最后基于Lyapunov稳定性理论证明系统中所有信号都是半全局一致最终有界的,跟踪误差收敛于原点的有界邻域内且满足指定性能.仿真结果验证了该控制算法的有效性.     

有源电力滤波器的自抗扰控制研究

针对采用PI控制器控制有源电力滤波器时存在谐波或基波电流指令而无法实现无静差调节,且数字化后会进一步增大稳态误差,使有源电力滤波器的补偿性能降低的问题,提出一种有源电力滤波器的自抗扰控制策略。该策略利用自抗扰控制器的非线性跟踪-微分器和扩张状态观测器分别处理参考输入和输出,并选择适当的状态误差,实现了对滤波的自动、精确补偿。仿真和实验结果表明,有源电力滤波器采用自抗扰控制策略后具有很强的鲁棒性、稳定性和适应性,控制性能有较大改善。     

Best Tracking Performance of Networked Control Systems Based on Communication Constraints

The best tracking problem for a single‐input‐single‐output (SISO) networked control system with communication constraints is studied in this paper. The tracking performance is measured by the energy of the error signal between the output of the plant and the reference signal. The communication constraints under consideration are finite bandwidth and networked induced‐delay. Explicit expressions of the minimal tracking error have been obtained for networked control systems with or without communication constraints. It is shown that the best tracking performance dependents on the nonminimum phase zeros, and unstable poles of the given plant, as well as the bandwidth and networked induced‐delay. It is also shown that, if the constraints of the communication channel do not exist, the best tracking performance reduces to the existing tracking performance of the control system without communication constraints. The result shows how the bandwidth and networked induced‐delay of a communication channel may fundamentally constrain a control system's tracking capability. Some typical examples are given to illustrate the theoretical results.     

A Nonlinear Flow Control Scheme Under Capacity Constraints

We present a nonlinear flow control scheme based on a buffer management model with physical constraints. It extends previous result of Pitsillides et al. in [6] by improving the queue length regulation for better service of network traffics. Besides a single node system, we also address the decentralized control of many cascaded nodes. The proposed discontinuous controller asymptot-ically regulates the buffer queue length at the output port of a router/switch to a constant reference value, under unknown time varying interfering traffics and saturation constraints on control input and states. Its continuous approximation achieves practical regulation with an ultimate bound on the regulation error tunable by a design parameter.     

Prescribed Performance Control of One-DOF Link Manipulator With Uncertainties and Input Saturation Constraint

In this paper, we mainly address the position control problem for one-degree of freedom (DOF) link manipulator despite uncertainties and the input saturation via the backstepping technique, active disturbance rejection control (ADRC) as well as predefined tracking performance functions. The extended state observer (ESO) is employed to compensate uncertain dynamics and disturbances, and it does not rely on the accurate model of systems. The tracking differentiator (TD) is utilized to substitute the derivative of the virtual control signals, and the explosion of complexity caused by repeated differentiations of nonlinear functions is removed. The auxiliary system is used to deal with the control input limitation, and the tracking accuracy and speed are improved by predefined tracking performance functions. With the help of the input-to-state stability (ISS) and Lyapunov stability theories, it is proven that the tracking error can be gradually converged into arbitrarily small neighborhood of the origin, and the tracking error is adjusted by suitable choice of control parameters. The simulation results are presented for the verification of the theoretical claims.