神经元控制器在直流调速系统中的仿真研究

该文提出了两种单神经元控制器,即数字神经元控制器和模拟神经元控制器,分别将这两种神经元控制器应用于直流双闭环调速系统,并进行了仿真研究,仿真工具采用了SIMULINK软件包,仿真结果表明这两种控制器都具有自适应的功能．均可应用于直流调速系统中,并获得满意的控制效果,但模拟神经元控制器具有更好的快速性和较小的超调。     

超铰接级联倒摆的控制及实验研究

针对超铰接级联倒摆的镇定与姿态控制问题,在分析系统数学模型的基础上,提出了两种控制器的设计方法,状态控制器是通过状态反馈实现的,系统不可测状态由一个Luenberger降维观测器估计;模型控制器采用一种多控制器结构,设计简单、灵活,便于实时控制。两种控制器在设计上均考虑了干扰补偿问题。文章最后给出了两种控制算法的实验曲线。实验结果表明,系统控制精度高,稳定性好。     

神经元PID控制器在两轮机器人控制中的应用

针对两轮机器人传统PID控制器参数整定困难的问题,设计了一种神经元PID控制器.该控制器利用神经元的自学习和自适应能力,在线实时调整控制器各项参数.建立了两轮机器人的非线性模型,讨论了神经元PID控制系统的结构及其控制算法和各项控制器参数的学习算法.将设计的控制器其应用于两轮机器人的平衡控制中,并且与传统PID控制器进...     

模糊控制与PID控制的对比及其复合控制

在对PID控制与模糊控制进行对比的基础上提出了一种模糊PID复合控制方案.首先,分别设计了一个常规PID控制器和一个基本模糊控制器;然后,对两种控制方案进行了仿真对比研究,并对它们的优缺点进行了评价;最后,为了将两种方案取长补短、优势互补,设计了一种模糊PID复合型控制器.该复合控制器根据偏差范围的大小,通过模糊控制与...     

基于最小信息损失准则的降阶LQG控制器设计

从信息论的角度出发,研究了LQG控制器降阶问题。在考察系统内部状态信息描述的基础上,提出了两种基于交叉格莱姆矩阵最小信息损失的LQG控制器降阶方法。将由这两种方法得出的降阶LQG控制器分别与全阶LQG控制器、基于最小K-L信息距离的降阶控制器进行仿真对比研究,比较各闭环系统的控制性能。仿真结果表明,提出的降阶控制器能较好地逼近全阶控制器实现闭环系统性能。     

具有在线选择加权项的隐式自校正控制器*

本文将自校正控制器和零极点配置策略结合起来提出了具有在线选择加权项的两种自校正控制器。采用隐式方式来实现加权项的选择和自校正控制器。本文还证明了这两种控制器具有整体稳定性和收敛性,并给出了仿真实例。     

嵌入式LCD控制器的设计和实现

介绍了一种嵌入式LCD控制器的设计和实现方案。提出了实现对LCD控制器的两种设计方案构思，其中：一种方案采用一片CPLD和两片帧存的控制器设计方案；另一种只采用一片CPLD和一片帧存的控制器设计方案。分析了两种方案的优点和弊端，详细介绍了后一种方案，并给出了它的实现方法。该方案只要稍作改动就能应用到其他的LCD上。     

小车二级摆摆起控制器设计

研究了小车二级并行摆系统及小车二级串行摆系统的摆起控制器设计问题,并给出了这两种系统的实验结果.首先,针对上述两种系统,设计了两步控制器,即1)摆起双摆达到倒立稳摆位置的控制器,2)进行稳摆控制的控制器.其次,由于小车二级摆位移受轨道长度限制,又考虑了小车位移的控制问题.上述两种实际系统的摆起及稳摆成功,验证了所提出设计方法的有效性.     

基于模糊神经网络的统一潮流控制器

为了减少先验知识对统一潮流控制器中模糊规则的设计和电力系统参数的变化对统一潮流控制器性能的影响,文中采用模糊神经网络来设计统一潮流控制器.为此首先简单介绍了统一潮流控制器的控制策略,然后阐述了自组织模糊神经网络和基于遗传算法的模糊神经网络的构造方法,接着将自组织模糊神经网络、基于遗传算法的模糊神经网络结合统一潮流控制器的控制策略应用于两种统一潮流控制器.最后通过MATLAB仿真例子来验证:这两种统一潮流控制器的设计方法的有效性.     

两维最简模糊控制器结构分析

结合三角形和梯形隶属函数的共性,明确定义了一种将以上两种隶属函数作为特例的广义梯形(GTS)隶属函数．推导了输入变量采用广义梯形隶属函数的Ⅰ类和Ⅱ类两维最简Mamdani模糊控制器的解析表达式．深入研究了该模糊控制器的解析结构,并证明了这两类模糊控制器等价于一种变结构的非线性（或线性）PI控制器与相应的非线性（或定常）变控制偏置之和,并且在其输入论域上是单调递增、连续且有界的;同时揭示了此类控制器是一种更一般化的模糊控制器．     

Nonlinear controllers for solar thermal plants: A comparative study

Solar plants have nonlinear dynamics which must be taken into account when a control system is applied to them. The main purpose of the control systems is to maintain the outlet temperature in a desired reference value and, at the same time, attenuate the undesirable transients caused by the disturbances. Linear controllers, like PID ones, are not able to obtain good performance over the whole operation range of these kind of plants. To overcome these limitations two nonlinear controllers, a nonlinear model-based predictive controller and a distributed sliding mode controller, are applied to a solar plant in this work. The performance of these controllers is tested through experimental and simulation results, which show the tracking and disturbance rejection capabilities of the proposed controllers.     

非线性分离法广义预测控制稳态特性分析

对具有输入饱和约束和Harnmerstein非线性的系统,采用“非线性分离法广义预测控制(GPC)”策略,即采用线性GPC时先不考虑Hammerstein非线性,然后采用解非线性代数方程的方法处理该非线性。根据处理饱和约束和解方程的不同顺序,可得到两种“两步法GPC”和一种“非线性移去法GPC”,分析了这些方法的稳态特性,并通过仿真进行了验证。     

Singularity-conquering ZG controllers of z2g1 type for tracking control of the IPC system

With wider investigations and applications of autonomous robotics and intelligent vehicles, the inverted pendulum on a cart (IPC) system has become more attractive for numerous researchers due to its concise and representative structure. In this article, the tracking-control problem of the IPC system is considered and investigated. Based on Zhang dynamics (ZD) and gradient dynamics (GD), a novel kind of ZG controllers are developed and investigated for achieving the tracking-control purpose, which contains controllers of z2g0 and z2g1 types according to the number of times of using the ZD and GD methods. Besides, theoretical analyses are presented to guarantee the global and exponential convergence performance of both z2g0 and z2g1 controllers. Computer simulations are further performed to substantiate the feasibility and effectiveness of ZG controllers. More importantly, comparative simulation results demonstrate that controllers of z2g1 type can conquer the singularity problem (i.e. the division-by-zero problem).     

一类线性切换系统的鲁棒状态反馈镇定

考虑一类标称系统存在共同Lyapunov函数的切换系统的鲁棒镇定问题.在不确定性不满足匹配条件下,设计出鲁棒状态反馈控制器,并在给定的切换策略下,确保闭环系统在其平衡点处渐近稳定.仿真结果表明所设计控制器是有效的.     

随机系统的切换控制

基于线性矩阵不等式和控制理论,针对由一组由随机微分方程描述的子系统组成的切换系统,给出此类切换系统稳定的充分条件,并给出控制器的设计方法。仿真结果表明,所设计的两类控制器及相应的控制策略均能保证闭环系统在一定意义下的稳定。     

一类时滞切换系统的鲁棒控制

研究一类状态矩阵和控制输入矩阵同时具有不确定项的线性时滞切换系统的鲁棒控制器的设计问题。,利用多Lyapunov函数方法设计出状态反馈的鲁棒控制器,并设计出切换策略,证明闭环系统在给定的切换策略下在其平衡点处的渐近稳定性。最后通过MATLAB中的LMI工具箱进行仿真,仿真结果验证结论的有效性。     

具有不匹配互联项相似组合大系统的分散控制及输出跟踪的LMI 方法

研究了一类相似组合大系统,其互联项不满足匹配条件,提出一种新的分散控制器设计方法,并结合线性矩阵不等式方法给出了系统渐近稳定的充分条件,其结果由Ｎ个线性矩阵不等式给出。用此研究了输出跟踪问题,并用仿真例子说明了该方法的有效性。     

Neuroevolution of Inverted Pendulum Control: A Comparative Study of Simulation Techniques

The inverted pendulum control problem is a classical benchmark in control theory. Amongst the approaches to developing control programs for an inverted pendulum, the evolution of Artificial Neural Network (ANN) based controllers has received some attention. The authors have previously shown that Evolutionary Robotics (ER) can successfully be used to evolve inverted pendulum stabilization controllers in simulation and that these controllers can transfer successfully from simulation to real-world robotic hardware. During this process, use was made of robotic simulators constructed from empirically-collected data and based on ANNs. The current work aims to compare this method of simulator construction with the more traditional method of building robotic simulators based on physics equations governing the robotic system under consideration. In order to compare ANN-based and physics-based simulators in the evolution of inverted pendulum controllers, a real-world wheeled inverted pendulum robot was considered. Simulators based on ANNs as well as on a system of ordinary differential equations describing the dynamics of the robot were developed. These two simulation techniques were then compared by using each in the simulation-based evolution of controllers. During the evolution process, the effects of injecting different levels of noise into the simulation was furthermore studied. Encouraging results were obtained, with controllers evolved using ANN-based simulators and realistic levels of noise outperforming those evolved using the physics-based simulators.     

统一的自校正控制器

本文提出两种统一的广义最小方差自校正控制器,以控制具有任意维数输入/输出的(ADIADO)系统.这两种新的控制器解决了以前无法处理的输入/输出维数不等、Bo奇异系统的自校正控制问题.几个典型的仿真例子证明了这两种控制器的统一性和有效性.     

Hybrid symbolic and numerical simulation studies of time-fractional order wave-diffusion systems

Boundary control of time-fractional order diffusion-wave systems is becoming an active research area. However, there is no readily available simulation tool till now for researchers to analyze and design controllers. In this paper, a simulation method for some typical boundary control problems, combining symbolic mathematics and numerical method, is presented with two application examples. In the intermediate steps of the simulation, an important by-product, the transfer function of the controlled system, can be obtained, which makes the design of more advanced boundary controllers possible and much easier.