基于BP神经网络PID控制在热力站的应用

热力站的换热器是一个非线性、时变的控制系统。常规的PID控制对热力站是不能达到较好的控制效果,于是提出了基于BP神经网络的智能PID控制方法对热力站控制。本文在介绍了BP神经网络模型的基础上,使用基于BP算法的PID控制器对热力站的换热器进行优化和整合,实现了对PID参数的在线调整,并使神经网络的学习和收敛速度加快,结果表明,采用神经网络PID控制对非线性系统及其参数有良好的整定,具有更好的适应性和鲁棒性。     

New fractional-order LADRC scheme based on a novel filtered-Bode’s ideal transfer function for integer-order systems

In this paper, a new Fractional-Order Linear Active Disturbance Rejection Control scheme (FO-LADRC) is proposed to enhance the robustness against loop gain variations of the standard Active Disturbance Rejection Control (ADRC) in the case of uncertain integer-order systems. A new filtered Bode’s ideal transfer function (F-BITF) is proposed to be used as a reference model in the design approach of the proposed control scheme to ensure the dynamic behavior of the closed-loop BITF to the controlled system. A Fractional-order Extended State Observer (F-ESO) is used in the proposed FO-LADRC structure to approximate the system to be controlled by a filtered fractional-order integrator. The fractional order of the F-ESO is a design parameter to tune to achieve the desired overshoot of the closed-loop step response. For the tuning of FO-LADRC structure, an analytical method is proposed. The performance of the proposed FO-LADRC and the Chen’s et al. FO-ADRC structures are evaluated thorough numerical simulation, and then validated in practice in the case of a Cart-Pendulum. Both the simulation and the experimental results show that the proposed FO-LADRC is able to achieve the desired dynamics of the F-BITF and guarantee the robustness with respect to the controller gain variation and the system parameter uncertainties. The comparative study conducted also reveals that the proposed control scheme is more robust than that of Chen.     

液压伺服系统自适应模糊变结构控制

结合变结构控制、自适应控制和模糊技术等特点,提出一种自适应模糊变结构控制方法.首先,设计一个带积分开关平面函数的变结构控制器,并构造一个二维模糊边界层宽度调节器以削弱抖振.其次,基于Lyapunov稳定性理论,引入一自适应算法,自适应调节变结构控制参数.应用于液压伺服系统的控制实验结果表明,所提出的控制方法能削弱抖振,改善液压伺服系统稳态控制精度,具有较强的鲁棒自适应综合性能.     

基于石墨烯的可调谐高吸收率太赫兹超材料

提出一种基于石墨烯的双波段太赫兹超材料吸收体,它由金属-电介质-石墨烯3层超材料结构单元在水平方向上进行周期性拓展而成。仿真结果显示,其在太赫兹波段6.62 THz和 9.36 THz分别产生99.9%和98.9%的高吸收率;通过改变石墨烯的费米能级,可以灵活地控制吸收体的谐振频率和吸收强度,而吸收体的吸收强度也可以利用石墨烯的弛豫时间进行单独控制。另外,研究了吸收体中间介质层厚度和介质损耗对吸收率的影响,这为吸收体初始加工工艺参数的确定提供了依据。研究结果表明,提出的基于石墨烯的太赫兹超材料吸收体结构简单,易于加工,可通过偏置电压或者化学掺杂,简单地实现吸收体的可调谐性,为双波段高吸收率太赫兹超材料吸收体的设计提供了重要参考。     

非最小相位系统的复杂控制算法研究

针对非最小相位系统右半平面零点所造成的负调问题,文中以抑制非最小相位系统的负调和时滞问题为目的,将两步PID参数整定法与Smith预估控制器相融合,提出了一种复杂控制算法。该算法通过调整系统前置系数和PID参数,达到抑制非最小相位负调的作用,并将其作用于Smith预估控制结构中,达到提升系统响应时间的目的。利用MATLAB软件中的Simulink对典型二阶控制系统建立仿真模型。仿真结果表明,该复杂控制算法在消除系统负调的同时也提升了系统的响应时间,验证了该复杂控制算法的有效性和鲁棒性。     

Distributed nonlinear model predictive control of an autonomous tractor–trailer system

This paper addresses the trajectory tracking problem of an autonomous tractor–trailer system by using a fast distributed nonlinear model predictive control algorithm in combination with nonlinear moving horizon estimation for the state and parameter estimation in which constraints on the inputs and the states can be incorporated. The proposed control algorithm is capable of driving the tractor–trailer system to any desired trajectory ensuring high control accuracy and robustness against environmental disturbances.     

Delayed resonator with speed feedback – design and performance analysis

In this work a tunable torsional vibration absorption mechanism, the delayed resonator (DR) is studied. The tuning feedback used is time delayed proportional control on the angular velocity of the absorber. Dynamic analysis of the absorber and its tuning features are presented. Single- and dual-frequency resonance characteristics are introduced, both of which are achieved owing to the added delay in control. Combined system stability, for such time delayed dynamics and relevant topics of relative stability and dominant pole placement are discussed. A design tool is suggested based on the property called, the degree-of-stability. Experimental results are also presented, using a torsional vibration setup involving electric motor drives. They support the theoretical findings strongly.     

压电悬臂梁振动控制系统联合仿真与实验研究

针对传统的悬臂梁振动抑制系统建立动力学方程的复杂性和精确性不高等缺点,该文提出利用多物理场耦合仿真软件搭建悬臂梁系统作为被控对象,通过设计比例、积分、微分(PID)算法在Simulink中建立控制器模型,对悬臂结构进行振动控制联合仿真。由于结构具有未知性,因而传统控制器PID参数的选取常需根据经验进行试凑来确定。通过提出遗传算法优化PID参数的模型,从而实现参数在线优化实时控制压电悬臂梁振动,仿真和实验均验证了该模型的有效性。此外还通过改变压电执行器在悬臂梁不同应力处的位置进行了振动抑制的仿真与实验。结果表明,该算法模型具有很好的鲁棒性,在不同位置处均可获得最佳的PID整定参数,实现振动抑制最佳效果。     

一种飞机俯仰角二自由度PID控制算法

飞机俯仰角是飞机纵向运动中最基本的控制模态,实现对其控制难度较大。针对飞行器俯仰角增量和舵面偏移量构成的四阶系统简化后的一阶积分延时系统,文中提出了一种二自由度PID控制算法。该算法基于多主导极点配置法与直接综合法,将设定点滤波器与控制器分开设计,并以解析式的形式给出整定律。通过算法仿真验证可知,文中提到的方法能较好地应用于飞行器俯仰角的四阶系统,并且具有优良的扰动抑制性能以及更好的伺服性能和鲁棒性。     

基于人工鱼群PID控制算法的四旋翼飞行器控制

针对传统的试凑法对四旋翼飞行器PID控制参数的整定精确度低等问题,提出采用全局人工鱼群算法将PID的3个参数作为鱼群中的一个个体组合,根据目标函数的变化情况及个体的状态,进行觅食、聚群、追尾等行为选择,从而在全局范围内搜索PID参数的最优组合,并结合动力学模型实现飞行器的飞行控制。仿真结果表明,全局人工鱼群算法具有更高的适应性和鲁棒性,且提高了系统的精度。     

A voltage controlled CMOS current divider with linear characteristic

A compact voltage controlled CMOS current divider is presented. Differently from previous implementations, exploiting the MOSFET translinear characteristics in subthreshold region, the proposed circuit is based on devices operating from moderate to strong inversion. An input current linearity range of nearly a decade is obtained by compensating for the deviations from the ideal drain current square-law approximation through an original empirical approach. The circuit is suitable for use as a building block in analog multipliers and for transconductor continuous tuning. The effectiveness of the proposed configuration is demonstrated by means of electrical simulations, performed on a prototype designed with a commercial process. The robustness of the linearization algorithm with respect to temperature variations is proven.     

A self-tuning closed-loop flux observer for sensorless torquecontrol of standard induction machines

This paper proposes a self-tuning closed-loop flux observer, which provides field-oriented torque control for induction machines without a tachometer. The proposed algorithm combines the best features of harmonic detection and stator voltage integration through the use of a new tuning scheme. The observer accuracy and robustness is augmented by a parameter-independent accurate-speed detector, which analyzes magnetic saliency harmonics in the stator current. The harmonic-detection scheme provides accurate rotor-speed updates during steady-state operation down to 1-Hz source frequency. This additional speed information is used to tune the rotor-resistance parameter of the observer. The tuned observer exhibits improved dynamic performance, accurate steady-state speed control and an extended range of control near zero speed. The algorithm requires no special machine modifications and can be implemented on most existing low- and medium-performance drives. The closed-loop nature of the flux observer, combined with the harmonic-detection scheme, provides flux and speed error feedback, which significantly increases the robustness of sensorless control across the entire speed range     

Torque-maximizing field-weakening control: design, analysis, andparameter selection

The torque-maximizing field-weakening control scheme proposed by Kim and Sul is developed further. The performance under imperfect field orientation conditions is investigated, and it is shown that an overestimated-rather than an underestimated-model leakage inductance should be used. A slightly modified algorithm, which offers better robustness and reduced computational complexity, is presented. The importance, for good performance, of combining the scheme with current and speed controllers featuring antiwindup and improved disturbance rejection is emphasized. The dynamics of the resulting closed-loop system are analyzed. Obtained in the process, are rules for selection of all controller parameters, allowing tuning without trial-and error steps. Good performance of the resulting system is verified experimentally     

Adaptive decoupling predictive temperature control for an extrusionbarrel in a plastic injection molding process

This paper presents an adaptive decoupling temperature control for an extrusion barrel in a plastic injection molding process. After establishing a stochastic polynomial matrix model of the system, a corresponding decoupling system representation was then developed. The decoupling control design was derived based on the minimization of a generalized predictive performance criterion. The set-point tracking, disturbance rejection, and robustness capabilities of the proposed method can be improved by appropriate adjustments to the tuning parameters in the criterion function. A real-time control algorithm, including the recursive least-squares method, is proposed which was implemented using a digital signal processor TMS320C31 from Texas Instruments. Through the experimental results, the proposed method has been shown to be powerful under set-point changes, load disturbances, and significant plant uncertainties. The proposed control law is shown to be less computational and more effective than other well-known multivariable control strategies, and more powerful than single-loop temperature-zone control policies     

基于压电陶瓷控制的有源耳罩实现及鲁棒性增强研究

采用IMC控制器结构，设计自适应数字滤波器消除耳罩内的噪声。次级声源采用压电陶瓷驱动，可有效减轻耳罩体积和重量。针对对象变化和反馈控制器特点，研究了如何加强系统的鲁棒性。实验及仿真结果表明，加强鲁棒性后算法对较高频率噪声信号及对象变化较大的情况有一定效果。     

Design and Experiments for a Class of Fuzzy Controlled Servo Systems

This paper proposes a new fuzzy control solution employing 2-DOF proportional-integral-fuzzy controllers dedicated to a class of servo systems. The controlled plants in these systems, widely used in mechatronics applications, can be characterized by second-order dynamics with integral type. The original design method suggested here starts with linear design results in terms of the extended symmetrical optimum method accompanied by an iterative feedback tuning (IFT) algorithm. Next, these results are transferred to the fuzzy case by the modal equivalence principle. The convergence of the IFT algorithm is guaranteed by the derivation of sufficient global asymptotic stability conditions based on Krasovskii-LaSalle's invariant set theorem with quadratic Lyapunov function candidate. Real-time experimental results corresponding to a low-cost fuzzy controlled servo system validate the theoretical approaches.     

Extensions and performance/robustness tradeoffs of the EWMArun-to-run controller by using the internal model control structure

We consider the run-to-run (RtR) correction of input recipes for semiconductor manufacturing processes using measurement information from previous runs. A RtR control algorithm that has been experimentally tested by industry and academia is the EWMA (exponentially weighted moving average) RtR controller. In this paper we provide extensions to this algorithm to address some of its drawbacks and also provide a rigorous theoretical analysis of its properties based on discrete control theory. By formulating the RtR control problem in the internal model control (IMC) structure used in feedback process control, we are able to extend the algorithm to completely eliminate offsets due to unmodeled process drifts, which is a common problem in semiconductor manufacturing. We also develop conditions for robustness with respect to modeling error and measurement delays. Tradeoffs between robustness guarantees and fast RtR response as well as handling of measurement noise are developed and presented in the form of plots that can be used for tuning the parameters of the RtR-IMC controller to accomplish the objectives set by the process engineer. The results are illustrated through several simulations including control of film deposition uniformity in an epitaxial reactor and tungsten deposition rate in a tungsten CVD reactor     

一种基于FBG宽调谐的复合环形腔单纵模光纤激光器

报道了一种宽调谐单纵模光纤激光器。该光纤激光器采用环行器确保腔内激光的单向传输,可以有效消除空间烧孔效应;采用复合腔的Vernier效应选取单个纵模;利用未泵浦掺杂光纤的可饱和吸收效应,有效抑制光纤激光器的跳模现象;同时,利用自行研制的光纤光栅调谐装置,调谐激光器振荡波长。测试结果表明,该单纵模光纤激光器输出激光的线宽为0.7KHz,功率为10mW,波长调谐范围为20nm,且调谐过程中始终保持单纵模特性。     

光纤型宽调谐中红外激光光源的设计与研制

报道一种光纤型宽调谐中红外差频产生（DFG）激光光源,该系统分别以掺镱光纤激光器（YDFL）和掺铒光纤激光器（EDFL）作为泵浦和信号源。为拓宽基频光调谐范围,采用了4个不同工作波段的YDFL,并通过电控光开关实现段间的快速切换,总调谐范围为1040-1110nm;采用电控偏振控制器 (ECPC)分别对基频光偏振态进行精确快速控制,以提高系统转化效率;利用PID算法和负反馈技术分别稳定泵浦LD温度和驱动电流,并将其工作状态通过LCD实时显示。测试结果表明,该中红外激光系统可在3.04-3.72μm内连续调谐。