共查询到20条相似文献,搜索用时 187 毫秒
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《机械设计与制造》2017,(5)
移动机器人在模块化重组构建中,其本身结构、机械惯性以及不同模块之间的相对运动和信号传输特性等都会发生不同程度的改变,且所处环境的动态变化性,增加了机器人精确模型建立的困难性,导致传统模型控制方法的难以适用。因此,提出一种PID控制方法和迭代反馈整定(Iterative Feedback Tuning,IFT)方法相结合的方法,通过给定PID形式控制器结构并作用于被控系统,根据相应的梯度闭环实验所获取的I/O数据实现PID控制器参数的自整定过程。仿真结果表明,采用PID与IFT结合的控制器参数自整定方法,不但避免了PID控制方法的缺陷,同时使得控制器参数能够在迭代更新过程中有效提高系统控制性能。 相似文献
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PID控制因其结构简单,鲁棒性好等特点,得到了工业界的广泛认可。而控制器的性能直接影响到生产过程的运行和产品的质量,控制器参数的整定至关重要,所以对PID参数整定方法的研究有很重要的意义,而继电整定算法是较有代表性的一种算法。文章基于继电器反馈对PID控制器参数自整定方法进行了研究,通过分析对象在继电特性作用下的输入输出响应曲线的波形,利用面积法估算得到系统的临界周期和振幅,并最终求得理想的PID控制参数。 相似文献
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本文以离散时间线性时不变系统为研究对象,提出了一种基于虚拟参考反馈整定的二自由度控制器设计方法。该方法通过离线的输入输出数据直接整定控制器的参数,使系统的给定跟踪性和抗扰性均得到明显改善。此外,通过设计合适的滤波器,验证了如果控制器参数稳定可保证闭环系统在学习过程中收敛。最后仿真证明了该方法的优越性和有效性。 相似文献
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针对PID参数难以整定的不足,提出一种基于继电反馈的PID自整定方法。该方法利用继电反馈原理对PID参数进行自整定,从而提高了参数整定的灵活性。给出了基于任意相位裕度的PID参数自整定公式,并进行了仿真实验验证。 相似文献
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针对传统PID控制器的一些问题,介绍一种基于PID参数模糊自整定的方法,并利用LabVIEW的模糊逻辑工具箱设计了虚拟模糊参数自整定PID调节器。运行结果表明,该控制器具有较强的抗干扰能力和鲁棒性,有较好的动、静态控制精度。 相似文献
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针对大多数工业系统的控制输入输出都存在约束的情况,提出一种基于改进粒子群算法的隐式广义预测控制算法(IGPC)。粒子群算法(PSO)是一种基于群体的智能优化算法,解决受约束的优化问题具有精度高、收敛速度快等优点;为了避免粒子群算法陷入早熟,提高精度,引入细菌觅食算法中的自适应迁徙机制。在隐式广义预测控制的滚动优化环节引入改进粒子群算法,弥补了传统GPC在处理受约束控制问题上的缺陷。仿真结果表明了该方法的有效性和良好的控制性能。 相似文献
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大型相控阵雷达装备的研发是一个复杂的系统工程,随着电子装备性能要求的日益增加以及更新换代的不断加快,传统的研发模式已经无法满足市场需求,需结合先进的设计方法和信息化技术进行数字化研发模式变革。文中结合雷达电子装备的研制特点,研究了基于模型的企业(Model-based Enterprise, MBE)、基于模型的系统工程(Model-based System Engineering, MBSE)的数字化样机协同研发、产品数字化维护与健康管理、智能车间等关键技术,并基于工业 4.0 的体系框架提出了产品研发创新和产品生产技术优化两个维度的应用设想,对复杂电子装备的智能化和定制化研发具有重要参考意义。 相似文献
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智能控制方法的选择及其应用 总被引:5,自引:0,他引:5
随着智能控制设计形式和设计方法的日益丰富以及智能控制应用的日益普及,智能控制的相关技术及其控制策略的选择变得日益重要。本文提出了设计智能控制系统时选择何种控制方式、采用何种技术及其相应控制策略所应考虑的一般方法,并结合实例,从方法上给出了各种智能控制技术及控制策略的选择方法和简单评价。 相似文献
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Ruey-Jing Lian Bai-Fu Lin Jyun-Han Huang 《The International Journal of Advanced Manufacturing Technology》2006,29(5-6):436-445
Constant force control is gradually becoming an important technique in the modern manufacturing process. Especially, constant
cutting force control is a useful approach in increasing the metal removal rate and the tool life for turning systems. However,
turning systems generally have nonlinear with uncertainty dynamic characteristics. Designing a model-based controller for
constant cutting force control is difficult because an accurate mathematical model in the turning system is hard to establish.
Hence, this study employed a model-free fuzzy controller to control the turning system in order to achieve constant cutting
force control. Nevertheless, the design of the traditional fuzzy controller (TFC) presents difficulties in finding control
rules and selecting an appropriate membership function. Moreover, the database and fuzzy rules of a TFC are fixed after the
design step and then cannot appropriately regulate ones real time according to the system output response and the desired
control performance. To solve the above problem, this work develops a self-organizing fuzzy controller (SOFC) for constant
cutting force control to evaluate control performance of the turning system. The SOFC continually updates the learning strategy
in the form of fuzzy rules, during the turning process. The fuzzy rule table of this SOFC can be begun with zero initial fuzzy
rules which not only overcome the difficulty in the TFC design, but also establish a suitable fuzzy rules table, and support
practically convenient fuzzy controller applications in turning systems control. To confirm the applicability of the proposed
intelligent controllers, this work retrofitted an old lathe for a turning system to evaluate the feasibility of constant cutting
force control. The SOFC has a better control performance in constant cutting force control than does the TFC, as verified
in experimental results. 相似文献
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Ruey-Jing Lian Bai-Fu Lin Jyun-Han Huang 《The International Journal of Advanced Manufacturing Technology》2006,29(5):436-445
Constant force control is gradually becoming an important technique in the modern manufacturing process. Especially, constant
cutting force control is a useful approach in increasing the metal removal rate and the tool life for turning systems. However,
turning systems generally have nonlinear with uncertainty dynamic characteristics. Designing a model-based controller for
constant cutting force control is difficult because an accurate mathematical model in the turning system is hard to establish.
Hence, this study employed a model-free fuzzy controller to control the turning system in order to achieve constant cutting
force control. Nevertheless, the design of the traditional fuzzy controller (TFC) presents difficulties in finding control
rules and selecting an appropriate membership function. Moreover, the database and fuzzy rules of a TFC are fixed after the
design step and then cannot appropriately regulate ones real time according to the system output response and the desired
control performance. To solve the above problem, this work develops a self-organizing fuzzy controller (SOFC) for constant
cutting force control to evaluate control performance of the turning system. The SOFC continually updates the learning strategy
in the form of fuzzy rules, during the turning process. The fuzzy rule table of this SOFC can be begun with zero initial fuzzy
rules which not only overcome the difficulty in the TFC design, but also establish a suitable fuzzy rules table, and support
practically convenient fuzzy controller applications in turning systems control. To confirm the applicability of the proposed
intelligent controllers, this work retrofitted an old lathe for a turning system to evaluate the feasibility of constant cutting
force control. The SOFC has a better control performance in constant cutting force control than does the TFC, as verified
in experimental results. 相似文献
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复杂工业系统的分布式递阶智能控制研究 总被引:3,自引:1,他引:3
王耀南 《计算机集成制造系统》2002,8(7):551-554
研究了复杂工业系统的现场数据检测,信息融合,控制,管理与决策及运行状态等特点,提出了一种分布式递阶智能控制方法,多传感器信息融合处理方法和专家模糊神经网络的过程控制器,经仿真实验和复杂工业过程(冶金,电力)的应用表明,该方法和控制系统具有良好效果。 相似文献
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针对花样缝纫机的智能化控制问题,综合应用ARM、DSP、FPGA等嵌入式技术,开发花样缝纫机智能化控制系统.该智能化控制系统由嵌入式ARM主板、基于DSP+FPGA的运动控制卡、带触摸功能液晶屏、主轴伺服驱动单元、进给轴驱动单元、输入/输出信号接口、系统电源等组成,可实现对花样缝纫机的高速、高精度运动控制.应用结果证明... 相似文献
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针对逆变电源输出稳态特性与动态性能兼顾的问题,采用数字信号处理器DSP作为控制核心,将智能控制与常规控制相结合,提出了系列新型单相逆变电源设计方案:模糊自整定PI双闭环控制设计方案。与传统的PID控制器相比,模糊PID控制具有超调量小,鲁棒性强,自适应性强,调节时间短,输出电压波形具有较低的总谐波畸变率THD,同时还获得了良好的稳态和动态特性,能够较好地满足逆变电源的控制要求。 相似文献