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针对具有非线性和多扰动的空气球运动系统以及对快速定位的要求,采用了模糊PID控制方法,即基于ITAE最优控制的对量化因子和比例因子进行在线寻优的自适应模糊控制方法。在Matlab环境下建立了空气球运动系统的模型,进行仿真分析;并利用B&R公司的可编程计算机控制器(PCC)对整个方案的可行性进行了验证。仿真和实验结果表明,控制方案使系统的响应速度和鲁棒性都优于常规PID控制,达到了很好的控制效果。 相似文献
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The paper presents a general methodology of adaptive control based on fuzzy model to deal with unknown plants. The problem of parameter estimation is solved using a direct approach, i.e. the controller parameters are adapted without explicitly estimating plant parameters. Thus, very simple adaptive and control laws are obtained using Lyapunov stability criterion. The generality of the approach is substantiated by Stone-Weierstrass theorem, which indicates that any continuous function can be approximated by fuzzy basis function expansion. In the sense of adaptive control, this implies the adaptive law with fuzzified adaptive control parameters. The proposed control algorithm may be viewed as an extension of classical adaptive control for linear plants, but compared to the latter it provides higher adaptation ability and consequently better performance if the plant is nonlinear. The global stability of the control system is assured and the tracking error converges to the residual set that depends on fuzzification properties. The main advantage of the approach is simplicity that suits control engineers since wide range of industrial processes can be controlled by the proposed method. In the paper, the control of heat exchanger is performed. 相似文献
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模型参考模糊自适应控制* 总被引:18,自引:1,他引:17
本文提出了一种模糊自适应机构的设计方法,所设计的自适应机构为偏差的非线性函数。用模糊自适应机构替代常规自适应机构,构成一个模型参考模糊自适应系统。导出了该系统稳定的充要条件,提出了一量化因子的选择方法,设计方法简单,便于工程应用。仿真结果表明:MRFAS系统自适应性能好,抗内外扰动的能力强。 相似文献
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An adaptive control using fuzzy basis function expansions is proposed for a class of nonlinear systems in this paper. It is shown that two system uncertainty bounds are approximated in a compact set by using fuzzy basis function expansion networks in the Lyapunov sense, and the outputs of the fuzzy networks are then used as the parameters of the controller to adaptively compensate for the effects of system uncertainties. Using this scheme, not only strong robustness with respect to unknown system dynamics and nonlinearities can be obtained, but also the output tracking error between the plant output and the desired reference output can be guaranteed to asymptotically converge to zero. Simulation results are provided to demonstrate the effectiveness, simplicity and practicality of the proposed control scheme. 相似文献
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一类具有未知死区MIMO系统的自适应模糊控制 总被引:6,自引:0,他引:6
针对一类具有未知死区并具有下三角函数控制增益矩阵的不确定MIMO非线性系统, 根据滑模控制原理, 并利用Nussbaum函数的性质, 提出了一种自适应模糊控制器的设计方案. 该方案取消了函数控制增益符号已知和死区模型参数上界、下界已知的条件. 通过引入积分型李亚普诺夫函数及最优逼近误差与死区扰动上界的自适应补偿项,证明了闭环系统是稳定的,跟踪误差收敛到零. 仿真结果表明了该方法的有效性. 相似文献
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基于模糊自适应控制的温度控制系统研究 总被引:4,自引:2,他引:2
针对一些系统大延时滞后的特点,本文以温度为对象,结合模糊控制技术和自适应Smith预估器,组成模糊自适应Smith预估控制系统。运用Simulink建立温度控制系统的仿真模型,并分别用常规模糊控制技术和模糊自适应Smith预估控制技术对温度加温进行仿真试验。仿真结果表明在温度加温的模糊控制系统中增加自适应Smith预估器后,系统具有更强的适应能力,系统的动态特性都有了较大的改善。 相似文献
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一类非线性系统的自适应模糊控制 总被引:6,自引:0,他引:6
针对一类非线性系统,利用模糊推理系统对非线性函数的逼近能力,导出基于Lyapunov稳定性理论的自适应控制器,不但能解决这类非线性系统的跟踪问题,而且可保证闭环系统的稳定性。仿真结果表明这一算法的有效性。 相似文献
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将模糊控制和常规PID控制相结合,设计了一种模糊自适应PID控制器,该控制器根据偏差和偏差变化率的要求实时调整PID参数。通过仿真表明:该控制器既具有常规PID控制器高精度的优点,又具有模糊控制器快速、适应性强的特点,并可以迅速消除系统误差,保证了系统具有良好的动、静态特性。 相似文献
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多变量系统模糊解耦自适应控制 总被引:9,自引:0,他引:9
对象模型难以确定的系统,采用经典控制方法难以实现解耦控制,作者应用模糊控制理论,研究了一种无需对象模型的模糊解耦自适应控制方法。本文介绍了这一方法,导出实现模糊解耦自适应控制的充要条件,并给出了仿真结果。 相似文献
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虚拟控制增益函数未知的随机非线性系统模糊自适应控制 总被引:5,自引:0,他引:5
The problem of track control is studied for a class of strict-feedback stochastic nonlinear systems in which unknown virtual control gain function is the main feature. First, the so-called stochastic LaSalle theory is extended to some extent, and accordingly, the results of global ultimate boundedness for stochastic nonlinear systems are developed. Next, a new design scheme of fuzzy adaptive control is proposed. The advantage of it is that it does not require priori knowledge of virtual control gain function sign, which is usually demanded in many designs. At the same time, the track performance of closed-loop systems is improved by adaptive modifying the estimated error upper bound. By theoretical analysis, the signals of closed-loop systems are globally ultimately bounded in probability and the track error converges to a small residual set around the origin in 4th-power expectation. 相似文献
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根据复杂锅炉温度系统,设计出一种自适应模糊PID控制器。其优点是应用模糊控制适应系统的不确定性,能够提高对象模型不确定时PID参数的自适应能力。很大程度上改善了系统的控制质量,提高了系统的鲁棒性。实际运行结果证明了该方法的有效性。 相似文献