基于PIC单片机的螺旋轮式驱动管道检测机器人控制系统设计

设计开发了一台小型螺旋轮式驱动管道检测机器人。采用以PIC单片机作为系统的核心控制器,数字式PWM作为电机驱动控制方式,车轮旋转速度作为反馈量的全闭环伺服控制系统。并利用C#语言开发出一套上位机控制软件,通过Wifi无线通信的方式实现对管道机器人的远程遥控。为了提高控制系统的精度和性能,采用了模糊自适应PID控制算法。在实验平台上的运行表明:该机器人具有很好的稳定性和可控性。     

陶瓷压机料车的液压调速控制方式的改进

陶瓷压机布料系统采用电液比例阀控制液压调速受外界环境的影响具有非线性、时变性、磁滞性等特点,常规PID控制和常规模糊控制还不能使布料系统的小车速度控制效果理想。笔者设计了一种自适应模糊PID控制器,通过仿真结果表明,这种自适应模糊PID控制器既具有模糊控制灵活、响应快、适应性强等优点,又具有PID控制精度高的特点。它改善了布料系统速度的控制效果。     

自适应模糊PID控制在陶瓷压机布料系统液压调速中的应用

受外界环境的影响,陶瓷压机布料系统采用电液比例阀控制液压调速具有非线性、时变性、磁滞性等特点,常规PID控制和常规模糊控制对布料系统的小车速度控制效果不够理想。本文设计了一种自适应模糊PID控制器,通过仿真结果表明,这种自适应模糊PID控制器既具有模糊控制灵活、响应快、适应性强等优点,又具有PID控制精度高的特点,它改善了布料系统速度的控制效果。     

基于阈值开关模糊PID控制的直流电机调速系统

介绍直流调速系统工作原理,在分析模糊PID控制器原理的基础上,充分结合传统PD控制响应速度快和模糊PID控制精度高的特点,设计了一种阈值型模糊PID算法,应用于直流电机调速系统。通过在MATLAB/Simulink中与传统PID控制进行仿真分析对比,证明了这种算法的有效性。     

模糊自寻优控制系统及工业应用

针对复杂工业过程中普遍存在的优化控制量无法直接检测问题,提出了一个运用模糊自寻优控制的解决方法,该方法将控制系统分为由模糊自适应PID控制构成级与由模糊自寻优和模糊异常两个推理子系统构成的监控极,着重介绍了模糊自寻优推理子系统的构成方法,该系统已应用于中储式制粉系统,取得了显著的经济效益。     

基于自适应模糊PID的注塑机温度控制及仿真

为了对注塑机温度精确控制,针对注塑机温度在传统比例积分微分(PID)控制系统中存在的控制偏差大、调节速度慢等诸多不足的现状,提出将模糊控制器和PID控制器相结合,构造成一个自适应模糊PID控制器,运用MATLAB软件建立传统PID和自适应模糊PID控制器模型,对机筒温度进行仿真对比。设定200℃为给定温度,最终仿真结果显示,与传统PID控制器相比,自适应模糊PID控制器实现了注塑机温度的实时控制,达到了超调量小,升温快速及稳态无误差等要求。表明了自适应模糊PID控制器比传统PID控制器对温度的控制效果更加良好。     

智能算法在交流调速系统中的研究

提出一种基于遗传算法优化的异步电机参考模型模糊自适应矢量控制调速系统,其异步电机模糊自适应速度辨识机构可根据参考模型输出与被控可调模型输出之差及其变化率,产生一个模糊自适应信号,控制被控可调模型的输出趋于参考模型的输出.仿真和实验表明,该系统具有良好的动态特性,在稳态精度上也优于普通的模型参考自适应系统,为无速度传感器...     

基于改进模糊PID的挤出橡胶定量分剪系统研究

对高精度挤出橡胶定量分剪系统进行研究,设计了基于质量反馈的称量系统及模糊PID控制算法。称量系统设计为上压多辊式结构,称量反馈装置设计为杠杆-带式结构。系统采用模糊PID控制算法,通过质量闭环控制实现了挤出橡胶动态定量分剪的自动化和高精度化。通过对偏差信号调节能力分析,对模糊算法的隶属函数参数进行相应地动态调整,提高了模糊PID控制的机器学习能力,实现了PID控制算法参数的自整定。联机运行试验结果表明,该系统可实现挤出橡胶的高精度定量分剪,具有抗扰动和自适应能力,显著提高了定量分剪效率。     

模糊PID控制器在无刷直流电机控制系统中的应用

针对传统PID控制依赖被控对象精确的数学模型,应用于无刷直流电机调速难于达到良好的动态响应的缺点,将模糊PID控制器应用于无刷直流电机的控制中,运用模糊控制原理对PID参数进行在线调整。在分析无刷直流电机数学模型和控制方法的基础上,在MATLAB中应用Fuzzy Toolbox和Simulink对无刷直流电机调速系统进行仿真。实验表明,模糊PID控制相对于传统的PID控制具有更好的动态和静态性能,控制精度也大为提高。     

锦纶聚合釜温度模糊自适应PID控制系统研究与仿真

锦纶聚合釜温度具有非线性、大滞后等特点,使用传统PID控制器的控制效果不够理想。在建立聚合釜温度数学模型的基础上,采用模糊算法与PID控制相结合的模糊自适应PID控制算法,实现PID参数自整定,提高控制精度。基于MATLAB平台构建釜温控制系统模型,仿真结果表明所提模糊自适应PID控制算法效果优于传统PID控制。     

On-line multivariable adaptive control of a binary distillation column

An experimental evaluation of the simultaneous control of top and bottom product compositions of a binary distillation column utilizing multi-variable self-tuning control algorithms is presented. The study was carried out using an 8-tray, 22.86 cm diameter methanol–water pilot scale column with continuous capacitance analysis of top product composition and bottom composition analyzed on a 3 minute cycle, by a gas chromatograph. Column control is studied for ±25% step disturbances in feed flow rate. Terminal composition regulation using both ‘positional’ and ‘incremental’ forms of a generalized minimum variance self-tuning control algorithm is compared with that achieved using a conventional digital PI/PID multiloop control strategy.     

NONLINEAR MODEL PREDICTIVE CONTROL

Nonlinear Model Predictive Control (NMPC), a strategy for constrained, feedback control of nonlinear processes, has been developed. The algorithm uses a simultaneous solution and optimization approach to determine the open-loop optimal manipulated variable trajectory at each sampling instant. Feedback is incorporated via an estimator, which uses process measurements to infer unmeasured state and disturbance values. These are used by the controller to determine the future optimal control policy. This scheme can be used to control processes described by different kinds of models, such as nonlinear ordinary differential/algebraic equations, partial differential/algebraic equations, integra-differential equations and delay equations. The advantages of the proposed NMPC scheme are demonstrated with the start-up of a non-isothermal, non-adiabatic CSTR with an irreversible, first-order reaction. The set-point corresponds to an open-loop unstable steady state. Comparisons have been made with controllers designed using (1) nonlinear variable transformations, (2) a linear controller tuned using the internal model control approach, and (3) open-loop optimal control. NMPC was able to bring the controlled variable to its set-point quickly and smoothly from a wide variety of initial conditions. Unlike the other controllers, NMPC dealt with constraints in an explicit manner without any degradation in the quality of control. NMPC also demonstrated superior performance in the presence of a moderate amount of error in the model parameters, and the process was brought to its set-point without steady-state offset.     

模糊控制的现状与工程应用关键问题研究

详细阐述了模糊控制技术的研究现状,包括经典模糊控制、智能模糊控制和复合模糊控制。研究分析了模糊控制技术在工程应用中存在的若干问题,包括模糊控制规则和参数优化问题、强耦合多变量问题和模糊控制稳态精度问题,并根据目前国内外模糊控制技术的研究趋势,指出了模糊控制技术未来的研究方向。     

裂解炉的先进控制

介绍了中国石油大庆石化公司化工一厂乙烯装置GK一Ⅵ型裂解炉的主要控制方案，并结合工艺操作具体说明控制方案的实现过程。     

Two-degree-of-freedom output feedback controllers for nonlinear processes

In this work, a nonlinear output feedback control algorithm is proposed, in the spirit of model-state feedback control. The structure provides state estimates using a process model, the measured output, and the residual between the model output and the measured output. These estimates will track the process states at a rate determined by a set of tunable parameters. An algebraic transformation of the state estimates is incorporated in the control structure to ensure that the input/output gain of the observer matches the model upon which the static state feedback control law is based. The transformed states are then used in the control law. This leads to a controller of minimal order possessing integral action. The control structure is shown to have the same properties as the standard model-state feedback structure. The resulting algorithm is a two-degree of freedom control law, in the sense that the control action is not a function of the error only, but the output and the set point are processed in different ways. Finally, a simulation example using an exothermic CSTR operating at an open-loop unstable steady state is used to demonstrate the closed-loop performance of the proposed method.     

轮胎硫化生产过程的模糊控制

分析轮胎硫化生产过程的特点,建立了硫化罐温度和压力控制的多维模糊控制数学模型,设计了适合该模型的控制算法,并在实际工程中予以实现。实践表明该控制方法具有较好的鲁棒性和较好的控制效果,并具有一定的推广价值。     

Generic model control — A case study

This paper outlines the use of a process model directly in a control algorithm. The process considered, a forced circulation single-stage evaporator, is a nonlinear interacting process. The control strategy employing a process model derived from fundamental mass and energy balances is shown to outperform single loop and predictive control strategies by a significant amount. The control structure is first presented in general form and then specifically applied to this process.     

粗轧控制系统的设计与应用

结合生产实际,对粗轧控制系统进行综合设计。介绍粗轧控制系统的结构,以及粗轧核心APC控制、粗轧RAWC控制和带铜SSC控制的控制思想并给出相应控制算法。     

Two-degree-of-freedom output feedback controllers for discrete-time nonlinear systems

A discrete-time, model-based output feedback control structure for nonlinear processes is developed in the present work. The structure makes use of a closed-loop observer, while at the same time it guarantees that the overall feedback controller possesses integral action. An algebraic transformation is applied on the observer states to insure that the input/output gain of the observer matches the model upon which the static state feedback control law is based. The resulting control algorithm is a two-degree-of-freedom control law, in the sense that the output and the set point are processed in different ways. The control structure is shown not only to have the same properties as the standard model-state feedback structure, but also that it emerges from a model algorithmic control framework. Finally, a simulation example using an exothermic CSTR operating at an open-loop unstable steady state is used to evaluate the closed-loop performance of the proposed method.     

大时滞过程中的智能复合控制方法及应用

针对复杂工业过程中通常存在的大时滞现象,本文介绍了几种智能复合控制方法,并对其应用进行举例说明。