共查询到20条相似文献,搜索用时 250 毫秒
1.
2.
智能结构自适应消振控制系统开发与实现 总被引:2,自引:0,他引:2
从振动主动控制设计思想出发,基于自适应控制策略,对实现结构振动响应主动控制的自适应控制系统进行了研究与开发;在此基础上,应用自适应滤波前馈控制方法对一压电机敏刚架结构进行了振动主动控制实验,取得了良好的抵消振动效果,从而表明了这一系统的有效性与可靠性。 相似文献
3.
针对一类含有参数不确定性和未知非线性扰动的系统,本文提出一种基于扰动补偿的无微分模型参考自适应控制方法,实现系统输出对参考模型输出信号的高精度跟踪.首先,利用被控对象模型信息设计扰动估计器,对系统非线性扰动进行在线估计;其次,基于非线性扰动估计值设计参考模型和无微分参数更新律,构建无微分模型参考自适应控制器,建立基于扰动补偿和状态反馈的自适应控制律,以消除参数不确定性和非线性扰动对系统输出的影响,保证系统输出对参考模型输出的准确跟踪;然后,给出闭环系统误差信号收敛条件和控制器参数整定方法;最后,通过数值仿真验证所提方法的有效性和优越性. 相似文献
4.
5.
带有迭代学习前馈的快速路无模型自适应入口匝道控制 总被引:4,自引:1,他引:3
提出了一种新的带有迭代学习前馈的快速路无模型自适应入口匝道控制算法. 模块化的前馈迭代学习和反馈MFAC控制器设计方案使所设计的控制系统有效地利用了交通流的周期性特征, 提高了控制品质. 严格的数学推导证明了该方法的收敛性. 仿真研究及比较结果验证了所提算法的有效性. 相似文献
6.
提出一种基于离散时间反馈误差学习(DTFEL)的两自由度非线性自适应逆控制(AIC)方法,其控制器由动态RBF神经网络(DRBFNN)前馈控制器和参数固定的PD反馈控制器构成.PD控制器用来保证闭环系统稳定,动态RBF神经网络以PD控制器输出和反馈误差的线性组合为学习信号,通过一种改进的NLMS(VS MNLMS)算法在线学习和逼近对象的动态逆,提高反馈控制器的性能.稳定性分析证明了该AIC系统稳定.数字仿真结果表明,该AIC具有良好的自适应能力和鲁棒性,是一种有效的非线性控制方法. 相似文献
7.
8.
9.
全局稳定的PD+前馈机器人鲁棒自适应控制 总被引:3,自引:0,他引:3
研究应用PD+前馈控制结构的不确定性机器人轨迹跟踪问题.在忽略摩擦力和外部扰动情况下,设计了一大类综合的自适应控制策略,能保证系统全局的渐近稳定;在摩擦力和外部扰动存在时,提出两种新颖的鲁棒自适应混合控制方法,不仅可以保证闭环系统的全局稳定性,同时还能给出系统清晰的暂态性能.严格的理论证明和二自由度机器人的仿真验证了控制器的有效性. 相似文献
10.
朱冰 《计算机测量与控制》2014,22(6):1745-1746,1776
针对四旋翼飞行器的姿态控制中的受扰动问题,提出了使用模型参考自适应算法加强四旋翼飞行器的姿态稳定性;常规控制器对四旋翼飞行器受扰时的控制很不理想,模型参考自适应控制器在外部干扰或环境影响出现时,能够结合参考模型,提高控制系统的动态品质;结合动力学模型并加以适当简化,设计了常规反馈控制器和模型参考自适应控制器,并进行了数据仿真实验;结果表明,模型参考自适应控制器能够在很大的范围内有效屏蔽干扰,缩短稳定控制时间,验证该算法在四旋翼飞行器姿态控制中是可行有效的。 相似文献
11.
在前馈主动噪声控制中,基于均方误差准则的传统算法仅考虑了信号的2阶统计量,忽略了实际存在的非高斯信号,不能满足对非高斯噪声的控制要求.提出基于2阶Renyi熵的滤波X自适应有限脉冲响应 (finite impulse response,FIR)主动噪声控制算法,定义2阶Renyi熵作为性能指标,利用Parzen窗方法估计误差的概率密度函数,给出基于2阶Renyi熵的信息梯度下降算法,实现自适应FIR控制,同时分析了算法的收敛性和计算复杂度.对单频信号和实测宽带非高斯噪声的仿真结果表明该算法能很好地消除非高斯噪声. 相似文献
12.
Discrete-time neural network output feedback control of nonlinear discrete-time systems in non-strict form 总被引:1,自引:0,他引:1
J. Vance Author Vitae Author Vitae 《Automatica》2008,44(4):1020-1027
An adaptive neural network (NN)-based output feedback controller is proposed to deliver a desired tracking performance for a class of discrete-time nonlinear systems, which are represented in non-strict feedback form. The NN backstepping approach is utilized to design the adaptive output feedback controller consisting of: (1) an NN observer to estimate the system states and (2) two NNs to generate the virtual and actual control inputs, respectively. The non-causal problem encountered during the control design is overcome by using a dynamic NN which is constructed through a feedforward NN with a novel weight tuning law. The separation principle is relaxed, persistency of excitation condition (PE) is not needed and certainty equivalence principle is not used. The uniformly ultimate boundedness (UUB) of the closed-loop tracking error, the state estimation errors and the NN weight estimates is demonstrated. Though the proposed work is applicable for second order nonlinear discrete-time systems expressed in non-strict feedback form, the proposed controller design can be easily extendable to an nth order nonlinear discrete-time system. 相似文献
13.
A novel multivariable control algorithm for non-linear space-time nuclear reactor dynamics is proposed in this paper. The multivariable control algorithm is based on a mathematical model of the nuclear reactor which includes: a single energy group of neutrons, delayed neutron precursors, iodine, xenon and thermal-hydraulic feedback. The multivariable control algorithm is composed of non-linear time-varying feedforward and feedback control signals, a reference model of the nuclear reactor and a dynamic observer. The non-linear proportional plus integral feedback controller forces the nuclear reactor to follow the response of the reference model. The dynamic observer estimates the unmeasurable state variables. The feedforward and feedback control signals are determined in a novel approach by specifying the form of the closed-loop response of the neutron density variables. By virtue of the multivariable control algorithm the closed-loop differential equations are linear and time-varying. A linear stability analysis for base-load and load-cycle operation indicates that the closed-loop system is stable provided that the thermal-hydraulic subsystem is inherently stable. The simulated dynamic response indicates that the multivariable control algorithm provides excellent response characteristics. 相似文献
14.
This paper describes the design of an adaptive output feedback control system in discrete‐time, based on almost strictly positive real (ASPR)‐ness with a feedforward input. It is well‐known that an adaptive output feedback control system based on ASPR conditions can achieve asymptotic stability via a constant feedback gain. Unfortunately, most realistic systems are not ASPR because of the severe conditions. The introduction of a parallel feedforward compensator (PFC) is an efficient way to alleviate such restrictions. However, the problem remains that there exists a steady state error between the output of the augmented system and the output of the original system. The proposed scheme provides a strategy wherein the feedforward input is utilized such that the steady state error is removed. Furthermore, the fictitious reference iterative tuning (FRIT) approach is employed to determine the control parameters using one‐shot input/output experimental data directly, without prior information about the control system. This paper explains how the FRIT approach is applied in designing an adaptive output feedback control system. The effectiveness of the proposed scheme is confirmed experimentally, by using a motor application. 相似文献
15.
16.
线性系统的动态输出反馈最优扰动抑制 总被引:1,自引:0,他引:1
首先通过求解Riccati方程和Sylvester方程,推导出前馈反馈最优扰动抑制控制律.然后构建了能同时预估状态和扰动的降维观测器,解决了前馈控制的物理不可实现问题.进而结合降维观测器和前馈反馈最优控制律,提出了一种动态输出反馈扰动抑制控制器的设计算法.最后通过仿真实例表明本文提出的控制算法的可行性. 相似文献
17.
In this paper we present a self-tuning of two degrees-of-freedom control algorithm that is designed for use on a non-linear single-input single-output system. The control algorithm is developed based on the Takagi-Sugeno fuzzy model, and it consists of two loops: a feedforward loop and feedback loop. The feedforward part of the controller should drive the system output to the vicinity of the reference signal. It is developed from the inversion of the T-S fuzzy model. To achieve accurate error-free reference tracking a feedback part of the controller is added. A time-varying error-model predictive controller is used in the feedback loop. The error-model is obtained from the T-S fuzzy model. The T-S fuzzy model of the system, required in the controller, is obtained with evolving fuzzy modelling, which is based on recursive Gustafson-Kessel clustering algorithm and recursive fuzzy least squares. It employs evolving mechanisms for adding, removing, merging and splitting the clusters.The presented control approach was experimentally validated on a non-linear second-order SISO system helio-crane in simulation and real environment. Several criteria functions were defined to evaluate the reference-tracking and disturbance rejection performance of the control algorithm. The presented control approach was compared to another fuzzy control algorithm. The experimental results confirm the applicability of the approach. 相似文献
18.
Michael A. Vaudrey Author Vitae William T. Baumann Author Vitae Author Vitae 《Automatica》2003,39(4):595-605
The filtered-X LMS algorithm has enjoyed widespread usage in both adaptive feedforward and feedback controller architectures. For feedforward controller designs the filtered-X LMS algorithm has been shown to exhibit unstable divergence for plant estimation errors in excess of ±90°. Typical implementations of this algorithm in adaptive feedback controllers such as filtered-U and filtered-E have previously been assumed to conform to these same identification constraints. Here we present two instability mechanisms that can arise in filtered-E control that violate the 90° error assumption: feedback loop instabilities and LMS algorithm divergence. Analysis of the adaptive feedback system indicates that the conventionally interpreted plant estimation error can be arbitrarily small yet induce algorithm divergence; while other cases may have very large estimation errors and feedback loops cause controller instability. These analytical observations are supported by simulations. The implications of the actual plant estimation error, calculated here for the filtered-E controller, are extended to practical constraints placed on applications including filtered-U, on-line system identification, and self-excited system control. 相似文献
19.
空调通风管道在运行时, 内部出现的低频噪声很难通过包裹消音材料等被动式降噪方法消除. 而在部署主动噪声控制时, 会出现声反馈现象, 影响降噪性能甚至造成控制系统的响应发散. 针对这种声反馈现象, 本文在分析其产生原因的基础上, 将麦克风阵列作为前馈, 对Duvall-Frost结构的线性约束最小方差波束成形算法加入预调向,提出了利用麦克风阵列的管道主动噪声控制方法, 实现单方向拾取来自管道上游的噪声信号, 避免声反馈带来的影响. 并利用滤波器x最小均方误差(FxLMS) 算法作为自适应控制算法, 针对4种典型低频噪声, 在真实管道环境下进行主动降噪实验. 实验结果表明, 相比不使用麦克风阵列的情况, 本文提出的主动噪声控制方法能达到明显的降噪性能, 且在稳定性方面取得较好结果. 相似文献
20.
This paper proposes an H-infinity combustion control method for diesel engines. The plant model is the discrete dynamics model developed by Yasuda et al., which is implementable on a real engine control unit. We introduce a two-degree-of-freedom control scheme with a feedback controller and a feedforward controller. This scheme achieves both good feedback properties, such as disturbance suppression and robust stability, and a good transient response. The feedforward controller is designed by taking the inverse of the static plant model, and the feedback controller is designed by the H-infinity control method, which reduces the effect of the trubocharger lag. The effectiveness of the proposed method is evaluated in simulations using the nonlinear discrete dynamics model. 相似文献