汽包锅炉的一种非线性串级控制设计

电厂锅炉的非线性和大延迟时间常数等是影响其控制品质主要因素。针对这些问题,提出一种非线性串级控制设计方案,一方面采用非线性补偿能够抵消锅炉的非线性的影响,另一方面采用串级控制能够提高锅炉的动态响应速度。在控制设计中,选择锅炉汽包压力为副控制对象、主蒸汽压力为主控制对象构成串级控制系统。仿真研究表明,在大范围变负荷运行条件下,所设计的机组控制系统具有良好的控制品质并能够有效地提高锅炉的响应速度。     

基于模糊PID算法的空调机组温度控制

针对中央空调系统空调机组温度控制的非线性、滞后性及时变性等特点,设计了基于模糊PID算法的空调机组温度控制系统,实现了空调机组温度的实时在线控制.该系统选用MCGS组态软件实现系统运行状态的监控,使用西门子S7-1200 PLC进行现场设备控制.运行结果表明模糊PID控制器设计合理,有效改善了空调过程的调节品质,提高了空调机组的温度控制质量.     

基于自适应混合遗传算法的协调控制系统

单元机组协调控制系统是大型火力发电机组的重要组成部分,针对协调控制系统过程的非线性、时变、大迟延、强藕合等特点,常规的机炉协调控制系统策略已经不能满足电网对单元机组协调控制系统的设计要求和控制品质要求。本文利用实数编码自适应混合遗传算法对协调控制系统的PID控制器参数进行优化,得到目标函数的全局最优解。仿真结果表明,文中方法使控制性能得到很大提高。     

磁悬浮系统的非线性PID控制

在磁悬浮控制系统中采用线性PID控制方法时,如果只是靠增加比例反馈来提高系统的刚度,很可能降低系统的性能,有时甚至会引起系统不稳定。为了提高PID控制方法的刚度,同时又不影响系统的性能,提出了一种非线性PID反馈控制方法。线性PID控制方法的控制量是通过位置和速度的线性组合来求取,而非线性PID控制的控制量是通过位置和速度的非线性组合来求取,因此采用位置和速度信号的指数组合形式来求取控制量。非线性PID控制方法相对于线性PID控制方法的最大优势是其刚度大、抗外力冲击能力强。实验结果验证了非线性PID控制方法的优越性。     

模糊自整定PID在CFBB床温控制中的应用

保定热电厂450t／h CFBB（循环流化床锅炉）的原床温控制系统采用的是常规PID控制，针对原系统响应慢、执行器动作频繁、磨损较大的问题，本文提出采用模糊自整定PID技术，该方法可将影响床温的工况参数与PID控制器参数相结合，建立模糊粗调机制．然后根据实际的系统误差及其变化率对PID控制器参数进行微调。仿真及实际运行效果表明，该方法能有效改善系统的动态品质，提高抗干扰能力，解决存在的问题，为CFBB的经济稳定运行提供参考。     

除盐水pH值自动控制系统开发

随着电厂高参数大容量机组投产,对水汽品质提出更高的要求.为了使除盐水的pH值快速稳定在给定指标范围内,设计了基于RBF神经网络模糊PID智能控制系统.仿真结果表明,该控制系统比单一PID控制具有更强的鲁棒性,良好的自适应能力,适用于缺乏精确数学模型且时变、非线性、纯滞后工业过程.     

滑模变结构理论在船舶柴油机燃油温度控制系统中的应用

为了实现对双输入非线性温度系统的控制,建立了船舶柴油机燃油温度系统的数学模型,并把该模型当作一类仿射非线性系统进行研究。运用滑模变结构控制理论,设计了一种针对仿射非线性系统的滑模控制器,实现了双输入双输出非线性耦合温度系统的控制。通过在组态王(KINGVIEW)环境下编制控制软件,实现了对柴油机高、低温燃油的温度控制。实验的结果显示了滑模变结构控制算法优于PID控制,并且有自适应能力强,动态、静态品质优良,鲁棒性好的特点。     

基于非线性PID的调距桨控制系统仿真研究

船舶调距桨控制系统中采用一般PID控制器往往难以达到最佳控制效果。针对调距桨控制系统过程模型的特点，设计了相应的非线性PID控制器，该非线性PID控制器各增益参数与偏差信号之间呈现非线性关系，调节控制器的各参数可根据对相应参数的非线性函数进行调整来实现，并采用遗传算法来优化此控制器各部分参数。仿真结果表明，该控制器能根据实际情况快速地调整和完善PID参数，具有响应速度快，稳态精度高等优点，控制效果优于传统的PID控制器。     

基于粒子群算法的自动着陆非线性PID控制器

针对线性PID控制器在自动着陆控制中难以达到满意的控制效果的缺点,在分析各增益参数与偏差信号之间非线性关系的基础上,设计了一种P/I/D各部分参数根据控制与误差之间的调节规律连续变化的非线性PID控制器。为了选择合适的非线性PID控制器的权系数,利用粒子群算法对其各参数进行寻优整定。针对某型飞机自动着陆系统,给出了设计的一般步骤。仿真结果表明,与线性PID控制器相比,设计的非线性PID控制器能更准确地跟踪期望轨迹并满足着陆指标的要求,并具有良好的动态品质。     

火电厂球磨机非线性自适应控制

建立了球磨机特征模型,分析了运行调节需求,设计了以给煤量非线性自适应PID控制为主体,多种控制方式相结合的球磨机控制系统。该系统由磨风量控制、磨给煤量控制和风煤协调控制三部分构成,合理组合了非线性自适应PID控制、解耦控制、比值控制和仿人控制算法优势。工程应用表明,该控制系统能够解决球磨机运行优化和控制优化的双重问题,控制系统鲁棒性强,具有工况自适应能力。     

Decentralized Nonlinear Robust Coordinated Control of UPFC and Generators in Multi‐ Machine Power System Via Pseudo‐Generalized Hamiltonian Theory

In this paper, based on a structure preserving power system with a unified power flow controller (UPFC), using pseudo‐generalized Hamiltonian function method and boundary‐function method, a nonlinear robust coordinated control law is constructed for multi‐machine power system oscillation damping. The 4‐machine 2‐area power system is used to demonstrate the performance of the proposed controller. Simulation results indicate that the proposed coordinated control scheme can effectively improve both transient stability and voltage regulation performance of the power system. ©2014 Chinese Automatic Control Society and Wiley Publishing Asia Pty Ltd     

汽车转向/防抱死制动系统的非线性鲁棒协调控制

针对汽车转向系统和防抱死制动系统的协调控制问题,提出一种新的非线性鲁棒协调控制系统.该控制结构由转向控制器和制动控制器组成.为了改善整个系统的鲁棒性和协调性,根据汽车转向和制动非线性综合模型,基于Hamilton函数方法设计了汽车非线性鲁棒协调控制器.该控制器通过预置状态反馈完成系统的耗散Hamilton函数实现.设计了适用于复杂工况的制动力分配策略.仿真结果验证了所设计控制算法的稳定性和有效性.     

Dynamic control of coordinated redundant robots with torque optimization

The problem of controlling a system of coordinated redundant robots with torque optimization based on joint redundancy is addressed. Local and global optimal control laws, both minimizing joint torque loading, are developed. A general method of load distribution among the coordinated robots is also proposed. The control problem is to regulate the motion of the object held by the coordinated robots and the internal force generated as a result of constraints on the object. The errors in the object motion and internal force converge asymptotically to zero under the proposed optimal control laws, when exact knowledge of the dynamic models is assumed. Furthermore, the robustness of the proposed method to model uncertainty is also analyzed. The motion and internal force errors are uniformly ultimately bounded under the proposed optimal controllers, when uncertainty in the dynamic models is assumed to exist.     

发电机和静止无功补偿器鲁棒非线性协调控制

采用Hamilton函数方法研究发电机励磁和静止无功补偿器(SVC)的鲁棒协调控制问题。首先建立系统的不确定非线性微分代数系统控制数学模型;然后通过预置状态反馈完成系统的耗散Hamilton实现,并基于耗散实现设计鲁棒非线性协调控制器。仿真结果表明,该控制器能有效提高电力系统的暂态稳定性。     

自由飞行空间机器人系统的协调运动控制

考虑由载体和机械臂组成的空间机器人系统的协调控制问题,提出了一种新的协调 控制策略.该策略首先利用简单的变结构控制器粗略控制载体的运动,进而设计机械臂控制 器以保证手端精确跟踪其期望的运动轨迹.应用该策略分别对手端自由运动和受限运动设计 了相应的控制器,并对两杆平面空间机器人系统进行了仿真,证实了控制策略的有效性.     

基于粒子群算法的多匝道协调控制

高速公路入口多匝道协调控制是调节各个入口匝道进入到主线的交通量,从而使主线交通流处于最佳状态。由于多个入口匝道相互关联和相互影响,多匝道协调控制具有强的耦合性、非线性和时变性。针对上述问题,提出了一种基于系统分层和粒子群优化算法的控制方法。首先论述了高速公路多匝道系统的原理模型;然后阐述了多匝道协调控制系统的实现,系统由协调控制层和直接控制层组成,其中前者负责模型选择、参数调整和确定期望的密度轨迹,后者采用比例积分微分控制器实施控制,并引入粒子群算法对控制器的比例系数、积分系数和微分系数进行优化;最后进行了仿真实验。结果表明,当高速公路出现交通拥堵时,系统能够快速地消除拥堵,并使主线交通流趋于稳定。该方法为高速公路多匝道控制提供了一种切实可行的新途径。     

基于神经网络的多变量协调预估控制器

针对操作变量多于被控变量的“胖”系统，提出了一种多变量协调控制系统，本控制系统在保证对关键变量实施定点控制的同时，还尽可能将操作变量协调至理想操作区，以达到优化操作变量的目的，文中将生产过程中复杂的操作要求和优化规则归纳整为一系列多变量优化协调逻辑，并进而用人工神经网络予以实现，用预估控制技术实现控制。这种协调控制器结构充分发挥了神经元网络和预估控制算法两方面的优势。在石油分馏塔上实现的多变量协调     

Coordinated Control Architecture for Motion Management in ADAS Systems

Advanced driver assistance systems (ADAS) seek to provide drivers and passengers of automotive vehicles increased safety and comfort. Original equipment manufacturers are integrating and developing systems for distance keeping, lane keeping and changing and other functionalities. The modern automobile is a complex system of systems. How the functionalities of advanced driver assistance are implemented and coordinated across the systems of the vehicle is generally not made available to the wider research community by the developers and manufactures. This paper seeks to begin filling this gap by assembling open source physics models of the vehicle dynamics and ADAS command models. Additionally, in order to facilitate ADAS development and testing without having access to the details of ADAS, a coordinated control architecture for motion management is also proposed for distributing ADAS motion control commands over vehicle systems. The architecture is demonstrated in a case study where motion is coordinated between the steering and the braking systems, which are typically used only for a single functionality. The integrated vehicle and system dynamics using the coordinated control architecture are simulated for various driving tasks. It is seen that improved trajectory following can be achieved by the proposed coordinated control architecture. The models, simulations and control architecture are made available for open access.      

Nonlinear generalised dynamic inversion for aircraft manoeuvring control

The nonlinear control problem of aircraft trajectory tracking is tackled in the framework of multiple linear time-varying constrained control using the newly developed paradigm of generalised dynamic inversion. The time differential forms of the multiple constraints encapsulate the control objectives, and are inverted to obtain the reference trajectory-realising control law. The inversion process utilises the Moore–Penrose generalised inverse and the associated nullspace projection, and it predictably involves the problematic generalised inversion singularity. Thus, a singularity avoidance scheme based on a new type of dynamically scaled generalised inverses is introduced that guarantees both asymptotically stable tracking and singularity avoidance. The steady-state closed-loop system allows for two inherently noninterfering control actions working towards a unified goal to exploit the aircraft's control authority over the entire state space. One control action is performed by the particular part of the control law on the range space of the transposed constraint matrix, and it works to impose the prescribed aircraft constrained dynamics. The other control action is performed by the auxiliary part of the control law on the complementary orthogonal nullspace of the constraint matrix, and it provides aircraft's global inner stability using the concept of perturbed feedback linearisation. Numerical simulations of an aggressive multiaxial aircraft coordinated manoeuvre verify the efficacy of designing nonlinear flight control systems via this methodology.     

Modeling and control of two constrained manipulators

The coordinated control of two manipulators in the presence of environment constraints is studied in this paper. Such a control method is needed in applications in which the two manipulators grasp a common object whose motion is constrained by environments. The two manipulators are not only constrained with each other, but also constrained by the environment in their workspace. It is realized that the motion and constraint equations obtained directly from mechanics are not suitable for the control purpose. A set of equivalent equations are derived, which are in the standard form of the nonlinear system representation with clear state equations and output equations. A nonlinear feedback is found which exactly linearizes and decouples the dynamic nonlinear system of the two constrained manipulators. The coordinated controller design is then carried out based on the linearized system by using linear system theory.