仿人智能PID控制器及其应用

纯碱碳化塔中部温度控制中，对象本身滞后较大，用传统PID调节中部温度，其建立时间过长。改用智能PID控制与常规PID控制相结合的方法，利用多模式智能控制对付系统的暂态过程，用常规PID对付系统的稳态过程，极大地降低系统建立时间，增强了系统的抗干扰能力。     

仿人智能控制在煤炉燃烧系统中的应用

将仿人智能控制理论(HSIC)应用于中小型燃煤锅炉燃烧控制系统，并给出了仿人智能控制器的设计。仿真结果表明：利用这种智能控制器可以提高燃烧系统的控制质量，降低环境污染。     

过程控制中的仿人智能控制算法

过程控制对象难以建立精确的数学模型,仿人智能控制以人的思维方式、控制经验、行为和直觉推理为基础,避开了求解繁琐的对象模型或建立脑模型时遇到的种种难题,因此它在过程控制中将会显示出其独特的优势;文中详细讨论了应用于过程控制中的仿人智能控制算法;最后,现场应用表明仿人智能控制是过程控制中的最佳选择。     

分数阶系统的分数阶PID控制器设计

对于一些复杂的实际系统,用分数阶微积分方程建模要比整数阶模型更简洁准确.分数阶微积分也为描述动态过程提供了一个很好的工具.对于分数阶模型需要提出相应的分数阶控制器来提高控制效果.本文针对分数阶受控对象,提出了一种分数阶PID控制器的设计方法.并用具体实例演示了对于分数阶系统模型,采用分数阶控制器比采用古典的PID控制器取得更好的效果.     

一种自动泊车的仿人智能控制方法

为简化平行泊车,通过总结模拟熟练驾驶员的泊车经验,提出一种自动泊车的仿人智能控制方法。该方法以后轮驱动、前轮转向的四轮汽车为对象,建立车辆运动学模型;通过分析熟练驾驶员泊车流程,将泊车过程分为4个阶段;在相切圆弧加公切线的规划路径上,选取泊车阶段转换时车辆姿态调整的关键点作为跟踪目标;根据泊车过程车辆的位姿信息,提取12种泊车的特征状态,作为描述车辆泊车动态行为的特征模型;根据熟练驾驶员的泊车策略,构建控制模态集。泊车开始后,依据特征模型先验知识和当前车辆位姿与泊车目标的偏差,对当前车辆特征状态进行模式识别,由辨识出的特征状态驱动相应控制模态,控制汽车按规划路径泊车入位。建立了车辆运动学和仿人智能控制器Simulink模型,并进行了仿真实验。仿真结果表明,该方法能有效控制车辆泊入车位。     

基于规则的仿人智能控制方法及其应用

在总结前人研究成果的基础上,概括出基于规则仿人智能控制的基本概念、基本思想和主要特点.以仿人智能控制的原型算法为例,分析其静态特性、动态特性和稳定性,并给出基于规则的仿人智能控制器的基本设计步骤.以工作在未知环境下的机器人系统为例,研究了仿人智能控制方法在机器人接触力控制中的应用.它是在数字PID控制算法的基础上,通过仿人智能控制的特征变量的取值符号,选择相应的控制策略实现的.实验结果表明,仿人智能控制方法可以大大提高控制精度.     

仿人智能控制中的数据挖掘

仿人智能控制模拟人的控制经验与技巧,对控制中形成的实时数据进行有效的处理挖掘,是仿人智能控制器的重要特征之一。文中给出了开闭环控制转换识别方法,控制滞后时间计算方法,控制阶段识别方法和控制方向识别方法这些方法在实际控制系统中得到了运用,取得了较好的控制效果。     

仿人智能控制在摩托车底盘测功机中的应用

摩托车测试系统中道路模拟阻力加载是整个测试系统数据准确性的关键，本文中根据仿人智能控制理论的基本原理，构造了仿人智能控制器，实现了对电涡流测功机道路模拟阻力的精确加载。     

导弹鲁棒分数阶PID自动驾驶仪设计

由于分数阶PID继承了传统PID的优点,并且具有更好的控制品质及更强的鲁棒性,因此针对导弹飞行过程中变参数、受环境干扰及快速稳定的特点,设计了鲁棒分数阶PID自动驾驶仪.基于最优Oustaloup数字算法建立框图式分数阶控制系统模型,结合IAE时域性能指标寻优及鲁棒性能量度,综合考虑时域性能及频域性能来整定分数阶PID...     

智能PID算法在远程液位控制系统中的应用

本文介绍了利用可编程序控制器(PLC)实现的远程液位自动控制系统，详细论述了智能PID算法的控制规则，给出了由PLC完成其控制策略的硬件配置和软件实现方法。     

智能PID算法在液位控制系统中的应用

针对自己开发的液位控制系统参数难以调整的问题,本文提出了一种智能PID的液位控制方法。智能PID控制算法是在常规PID控制算法的基础上,根据前人和专家的经验以及操作人员的实际经验,针对具有大滞后、时变、非线性系统对象而提出的控制算法。该算法是分段进行调节的,它既有较好的快速性,又有迟滞(死区)控制的稳定性和抗干扰能力。实验结果表明:这种控制方法不仅简单、精度高,而且具有一定的实用价值。     

智能PID在隧道式电烘炉上的应用

本文在模糊推理和免疫控制原理的基础上,结合传统的PID控制,实现了一种模糊免疫PID控制算法并应用在400KW隧道式电烘炉中。仿真研究和实践结果表明,这控制算法具有参数设定简单、控制性能稳定的优点,可明显提高系统的控制效果。     

越野智能车转向及驱动协调控制

本文以实现智能车在非结构化越野环境中的自主导航为目的,对越野路径识别及轨迹跟踪控制方法开展研究.首先基于视觉传感器和激光传感器实现可行驶路径的分割与提取,并建立了包含车辆转向及驱动的耦合控制系统模型;然后,针对控制系统模型具有非匹配不确定性的特点,采用反演变结构控制算法设计了转向及驱动协调控制器,并引入饱和函数以解决变结构的抖振问题;最后,通过仿真和越野导航试验验证了所提出控制算法的有效性和鲁棒性.     

Design and evaluation of a model predictive vehicle control algorithm for automated driving using a vehicle traffic simulator

This paper describes the design and evaluation of a model predictive control algorithm for automated driving on a motorway using a vehicle traffic simulator. For the development of a highly automated driving control algorithm, motion planning is necessary to satisfy driving condition in various road traffic situations. There are two key issues in motion planning of automated driving vehicles. One of the key issues is how to handle potentially dangerous situations that could occur in order to guarantee the safety of vehicles. The second key issue is how to guarantee the disturbance rejection of the controller under model uncertainties and external disturbances. To improve safety with respect to the future behaviors of subject vehicles, not the current states but rather the predicted behaviors of surrounding vehicles should be considered. The desired driving mode and a safe driving envelope are determined based on the probabilistic prediction of surrounding vehicles behaviors over a finite prediction horizon. To obtain the desired steering angle and longitudinal acceleration for maintaining the subject vehicle in the safe driving envelope during a finite prediction horizon, a motion planning controller is designed based on an model predictive control (MPC) approach. The developed control algorithm has been successfully implemented on a vehicle electronic control unit (ECU). The proposed control algorithm has been evaluated on a real-time vehicle traffic simulator. The throttle, brake, and steering control inputs and the controlled vehicle behavior have been compared to those of manual driving.     

Longitudinal control algorithm for automated vehicle merging

This paper considers longitudinal control of automated vehicle merging in a mathematical approach for automated highway systems. Merging manoeuvre is defined as one vehicle in the merging lane to be inserted in the middle between two vehicles in the main lane at fixed merging point which is the intersection of those two lanes. The main lane vehicles can change speed. To achieve this, the merging vehicle must properly adjust its speed and acceleration such that it reaches the merging point at the right time with the same speed and acceleration as the main lane vehicles. This problem is a little similar to but different from the well-known missile interception problem. The longitudinal control problem is proposed for different road layouts, based on which a unified mathematical model is established. Then a new concept, virtual platooning, is introduced, which effectively avoids a two-point boundary value problem . Based on this concept, an analytic solution with mathematical proof is provided. It is also discretized as a recursive algorithm for real-time use. A dynamic real-time simulation is published at PATH website. This algorithm has been successfully implemented with automated cars.     

Design of internal model control based fractional order PID controller

This article presents a design of the internal model control(IMC)based single degree of freedom(SDF) fractional order(FO)PID controller with a desired bandwidth specification for a class of fractional order system(FOS). The drawbacks of the SDF FO-IMC are eliminated with the help of the two-degree of freedom(TDF)FO PID controller. The robust stability and robust performance of the designed controller are analyzed using an example.     

DeltaV控制系统中PID不同联锁类型的应用实现

本文介绍了DeltaV控制系统中PID不同联锁类型的应用实现。并根据某工厂生产实际中三种不同联锁类型的要求．应用DeltaV系统提供的多种功能模块，搭建相应的控制策略以满足过程控制的需要。     

A genetic-multivariable fractional order PID control to multi-input multi-output processes

A multivariable fractional order PID controller is designed and to get suitable coefficients for the controller, a genetic algorithm with a new topology to generate a new population is proposed. The three parts of the genetic algorithm such as reproduction, mutation, and crossover are employed and some variations in the methods are fulfilled so that a better performance is gained. The genetic algorithm is applied to design FOPID controllers for a multivariable process and the results are compared with the responses of a H_∞ based multivariable FOPID controller. The simulation responses show that in all cases, the genetic-multivariable FOPID controller has suitable performance, and the output of the system has a smaller error. Also, in the proposed method, variations in one output have a smaller effect on another output which is shown the ability of the proposed method to overcome the interaction in the multivariable processes.