二自由度计算机伺服控制器解析法设计及控制软件研制

针对二阶模型控制对象提出了一种二自由度计算机伺服控制器的设计方法,采用解析法确定控制器的参数,使校正后的二阶对象系统同时满足跟随性能与抑制干扰性能最佳的设计要求。仿真结果验证了所提出方法的有效性。同时针对该控制算法研制了相关的计算机软件。     

一种鲁棒逆基控制器的设计方法

针对多变量病态过程的控制问题,提出一种鲁棒逆基控制器的设计方法。该方法把频域响应近似法(Frequency Response Approximation,FRA)和高级鲁棒控制方法相结合,采用频域响应近似法设计一个低阶逆基控制器来近似,通过高级鲁棒控制方法获得的高阶鲁棒控制器。得到的控制器结构简单,容易实现,并且具有良好的鲁棒控制性能。通过对一个在过程控制领域被广泛研究的病态精馏塔模型进行设计与仿真,验证了该方法在病态过程控制问题中的有效性。     

模糊灰色预测控制研究

本文给出了典型模糊控制器的一种化简方法,使得连续型模糊控制器的计算量接近离散型模糊控制器,本文的研究将为连续型模糊控制器的实际应用提供有力的支持。     

Nonfragile guaranteed cost control for Delta operator-formulated uncertain time-delay systems

With consideration that the controller parameters may vary from the designed value when the controller is realized, based on Lyapunov stability theory, a design method of nonfragile guaranteed cost control for a class of Delta operator-formulated uncertain time-delay systems is studied. A sufficient condition for the existence of the nonfragile guaranteed cost controller is given. A numeric example is then given to illustrate the effectiveness and the feasibility of the designed method. The results show that even if the parameters of the designed controller are of variations, the closed-loop system is still asymptotically stable and the super value of the cost function can also be obtained, while the closed-loop system will be unstable if the variations of the controller parameters are not considered when the controller is designed. The nonfragile guaranteed cost controller derived from the traditional shift operator method may cause the closed-loop system to be unstable, while the nonfragile guaranteed cost controller based on Delta operator method can avoid the unstable problem of the closed-loop system.     

一种改进的同伦算法与H∞鲁棒控制器设计

提出了一种具有阶次限制的鲁棒控制器设计方法, 该算法将控制系统的性能指标转化为灵敏度函数问题, 并利用Nevanlinna-Pick插值算法进行求解. 提出了一种改进的同伦算法, 将其用于求解由灵敏度函数产生的非线性方程. 基于改进同伦算法设计的鲁棒控制器 不仅避免了传统H∞控制中加权函数的选择问题, 而且克服了鲁棒控制器阶次较高的缺陷. 最后,文章以4阶系统为例, 设计了具有阶次限制的H∞鲁棒控制器, 通过与传统鲁棒控制器的比较可以看出, 基于本文方法设计的控制器不仅具有较低的阶次, 而且其控制性能也具有明显的优越性.     

Reduction of controller fragility by pole sensitivity minimization

Presents a method for the reduction of controller fragility. The method is based on the sensitivity of closed-loop poles to perturbations in the controller parameters. By means of a state space parameterization of the controller, the closed-loop pole sensitivity can be reduced. A controller fragility measure based on the closed-loop pole sensitivity is proposed. Conditions for the optimal state-space realization of the controller are presented, along with a numerical method for obtaining the solution     

基于SG的Buck变换器自适应反步法控制

针对Buck变换器的非线性特性,考虑在电感电流连续导通模式下的数学模型,采用自适应反步法设计其闭环控制器,同时基于System Generator提出了数字控制器的实现方法,并分析了其负载扰动和电源扰动特性,将仿真结果与PI控制方式相比较,结果表明自适应反步控制的优越性和System Generator设计开发的有效性,为FPGA实现Buck变换器的数字控制器提供了新的设计流程,也为进一步研究其他DC-DC变换器的非线性控制提供了新思路.     

一种稳定的机器人神经网络控制器研究

研究一种稳定的机器人神经网络（ＮＮ）控制器，提出了由神经网络控制器和监督控制器构成的控制方案，给出了控制器的设计方法及ＮＮ学习自适应律，并基于Ｌｙａｐｕｎｏｖ方法证明了控制系统的稳定性和ＮＮ参数收敛性，仿真结果表明该控制方案具有良好的鲁棒性和参数收敛性，从而证明控制器的有效性。     

Transfigured loop shaping controller and its application to underwater vehicle

1 Introduction It is di?cult to directly design the controller for an underwater vehicle using a H∞ standard problem. This is because there is a pole at the origin in the mathe- matical model[1]. A Loop shaping method can be used to design a H∞ robust controller so as to solve this problem, however, the output response to step inputs results in large overshoot when applied practically. It is not very e?ective to solve this problem by iterative tuning of weighting functions, because this re…     

基于优化性能的重复控制器设计

提出一种基于优化性能的重复控制器设计方法.首先,对重复控制器中时滞环节的时延进行修正,以补偿由于低通滤波器的引入所带来的相位滞后,进而提高系统在参考/干扰信号基频处的增益,增强系统对基频信号的跟踪/抑制能力;其次,在重复控制器中加入超前校正环节,不仅拓宽了低通滤波器的带宽,而且提高了系统的高频增益,使得系统在高次谐波处的性能得以大幅提升.重复控制器的参数通过求解2个优化问题得到.在保证系统稳定的前提下,提出的设计方法最大限度地提升了系统的性能.针对光盘驱动器控制系统的仿真结果证实了该设计方法的有效性.     

基于理想Bode传递函数的分数阶PID频域设计方法及其应用

基于理想Bode传递函数,提出一种简便的分数阶PID控制器频域设计方法.采用传递函数模型匹配与辨识方法,将分数阶PID控制器5个参数的复杂设计问题转化为单个参数的一维搜索问题进行求解;结合短记忆法实现分数阶PID控制器数字化.该方法已成功应用于直流电机调速控制系统,能够达到期望的响应性能,具有强鲁棒性.实验结果验证了所提出设计方法的有效性.     

基于SOPC的多通道智能PID控制器

针对传统的多通道数字PID控制器实时性较差的特点,本文提出一种利用FPGA技术实现多通道PID控制器的硬件设计方案。并且采用模糊自整定方法对PID控制器参数进行实时调节,实现PID控制器的自适应功能。     

基于反步法的移动机器人鲁棒跟踪控制

以四轮移动机器人为研究对象,建立了机器人完整的数学模型,包括运动学模型、动力学模型以及驱动电机模型。在机器人数学模型的基础上,采用反步法的思想设计具有全局收敛特性的鲁棒轨迹跟踪控制器,设计中考虑了驱动电机模型使控制器更符合实际控制要求,并将其分解为运动学控制器、动力学控制器以及电机控制器三部分,降低了控制器设计的难度。构造了系统的李雅普诺夫函数,证明了该类型移动机器人在所得控制器作用下,能实现对给定轨迹的全局渐近追踪。仿真实验结果表明基于反步法的控制器是有效的。     

H2最优控制器的不唯一性及闭环性能的改善

本文研究了H~2最优控制器的不唯一性问题,给出了H_2最优控制器集合存在的条件,并给出了一种将多变量H~2最优设计问题化为一组单变量的H~2最优设计问题的方法,给出了最优控制器集合的参数化公式,本文还给出了利用最优控制器集合中的自由参数提高闭环系统鲁棒性能及求取稳定最优控制器的方法。实例表明,这种设计方法可以充分利用控制器的自由度,实现提高系统鲁棒性以及求取稳定控制器的目的。     

Fuzzy sliding-mode control with rule adaptation for nonlinear systems

Abstract: A fuzzy sliding-mode control with rule adaptation design approach with decoupling method is proposed. It provides a simple way to achieve asymptotic stability by a decoupling method for a class of uncertain nonlinear systems. The adaptive fuzzy sliding-mode control system is composed of a fuzzy controller and a compensation controller. The fuzzy controller is the main rule regulation controller, which is used to approximate an ideal computational controller. The compensation controller is designed to compensate for the difference between the ideal computational controller and the adaptive fuzzy controller. Fuzzy regulation is used as an approximator to identify the uncertainty. The simulation results for two cart–pole systems and a ball–beam system are presented to demonstrate the effectiveness and robustness of the method. In addition, the experimental results for a tunnelling robot manipulator are given to demonstrate the effectiveness of the system.     

Observer-based H-infinity output feedback control with feedback gain and observer gain variations for Delta operator system

Considering that the controller feedback gain and the observer gain are of additive norm-bounded variations, a design method of observer-based H-infinity output feedback controller for uncertain Delta operator systems is proposed in this paper. A sufficient condition of such controllers is presented in linear matrix inequality （LMI） forms. A numerical example is then given to illustrate the effectiveness of this method, that is, the obtained controller guarantees the closed-loop system asymptotically stable and the expected H-infinity performance even if the controller feedback gain and the observer gain are varied.     

An Application of a Neural Self-Tuning Controller to an Overhead Crane

A neural network-based self-tuning controller is presented. The scheme of the controller is based on using a multilayer perceptron, or a set of them, as a self-tuner for a controller. The method proposed has the advantage that it is not necessary to use a combined structure of identification and decision, common in a standard self-tuning controller. The paper explains the algorithm for a general case, and then a specific application on a nonlinear plant is presented. The plant is an overhead crane which involves an interesting control problem related to the oscillations of the load mass. The method proposed is tested by simulation in different conditions. A comparison was made with a conventional controller to evaluate the efficiency of the algorithm.     

基于极点配置的二级倒立摆最优控制器设计

介绍了按规定的主导极点选择最优控制加权阵的原理,并在方法上作了一定改进。把传统的最优控制与极点配置结合起来,既得到了系统最优控制器,又得到了具有工程意义希望的性能指标。并成功地把最优控制理论应用于二级倒立摆控制系统,设计出具有期望主导极点的最优控制器,实现了对二级倒立摆系统的稳定控制。     

基于有序神经网络的神经模糊预测控制

本文使用有序神经网络和改进的模糊控制器构成了一种新型的神经模糊预测控制方法，有序网络学习速度快，所需神经数目少，用事先训练好的有序网络代替传统的预测模型，以期增强输出预测的准确性；同时，用一种改进的模糊控制器原有的PID控制器，增强系统的鲁棒性。仿真结果表明，所提出的神经模糊预测控制方法可以获得理想的控制效果。     

一种混联式力反馈手控器设计及运动学仿真

遥操作机器人力反馈手控器是遥操作系统中非常关键的部分。使用少自由度并联机构设计的混联式手控器具有串联机构和并联机构两者的优点,是手控器设计的热点方向。研制满足位置控制的大位移力反馈手控器时,平衡工作空间和机构刚度指标非常重要。基于Delta机构研制了6自由度混联式手控器,并在solidworks软件平台上对手控器机构进行了仿真实现。分析了手控器的运动学性能,在matlab环境中运行手控器工作空间的仿真算法,结果显示设计的手控器适合进行大位移力反馈的控制。