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神经控制器的典型结构 总被引:16,自引:0,他引:16
本文研究了神经控制的典型结构方案,包括神经学习控制,神经直接逆控制,神经自适应控制,神经内模控制,神经预测控制,基于小脑模型联接控制(CMAC),多层神经控制和递阶神经控制等,文中着重讨论了控制机理,提供了潜在应用基础,对神经控制器结构方案的确定具有借鉴作用。 相似文献
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姚慧欣 《自动化与仪器仪表》2023,(1):106-110
由于轨道列车限制运行速度过程中,控制量与自动量存在反馈误差,导致相同时间点下的控制量与实际控制出现误差,造成列车整体车速控制精度降低。为了解决控制量与自动量之间的误差问题,通过对城市轨道交通通行列车车速控制相关因素的分析发现,影响列车控制的效果的诸多因素中,客流量及其对应时间关系是影响控制量与实际控制量之间误差值大小的重要因素。因此,提出方法中首先确定轨道交通限制时段的客流条件,其次建立轨道交通限制控制模型,然后引入基于模糊控制的自动控制算法,最后完成自动控制约束输出。通过与PID控制方法的仿真实验证明,提出的控制方法在控制精度上具有显著提升,且方法应用过程稳定,控制效果满足实际应用要求,能够有效解决现有控制方法存在的控制误差过大问题。 相似文献
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预测函数控制是一种控制量计算方程简单,实时控制效果好的新型预测控制算法,可以处理不稳定,时滞,带约束等系统,尤其适用于快速系统的控制。本文将预测函数控制用于冷连轧机张力控制系统中,分析了系统的鲁棒性,稳定性和快速性,仿真结果表现预测函数控制具有良好的控制性能。 相似文献
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船舶减摇鳍系统最小方差控制 总被引:1,自引:0,他引:1
本文对船舶减摇鳍系统的最小方差稳定控制进行了研究,提出了准最小方差控制,加权准最小方差控制,隐式最小方差控制及自适应控制方案,在计算机进行了数字仿真,并与目前工程上使用的PID控制进行了比较,结果表明:减摇鳍系统运动姿态的准最小方差控制与最小方差控制均可获得令人满意的效果。 相似文献
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针对工业环境中的液位控制问题,设计了一种水箱液位控制系统装置,利用OPC技术将MATLAB和PLC控制系统进行集成,使用MATLAB/Simulink中的OPC工具箱及其他模块来进行液位控制系统的搭建,并采用多模型自适应预测控制方案实现了双容水箱液位的预测控制。根据双容水箱系统建立了机理模型,并通过MATLAB系统辨识工具箱对系统模型进行了参数辨识,得到双容水箱的输入输出模型,从而进行液位控制的模型预测控制研究。实际控制结果表明,多模型自适应预测控制与单模型预测控制相比,前者的响应加快,超调量减少,性能更优。 相似文献
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智能厂房温湿度控制系统 总被引:4,自引:0,他引:4
首先分析了厂房温湿度控制与一般建筑物空调系统的区别,指出现在流行的空调控制方法不适合厂房温湿度控制;接着提出一种智能温度控制方法,它不需要确定系统的数学模型,用专控制的方法,在不同控制阶段分别采用开关控制,模糊控制和智能PID控制;最后介绍了实行结果。 相似文献
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This article presents a novel three-loop control system, which supplements control structures known from the literature as model following control (MFC). The major advantage of the proposed system is its high robustness to process parameter variations; it is much higher than that offered by single-loop or two-loop control systems. Features of the new structure are revealed by a theoretical analysis that has been carried out from the viewpoint of requirements for a force/pose controller of a Stäubli RX60 manipulator. This article shows how the proposed control structure responds to such strong process parameter variations and makes a comparison to results yielded by single-loop control structures. 相似文献
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模型跟踪广义预测鲁棒自适应控制器 总被引:4,自引:1,他引:4
本文采用滤波CARMA模型,基于内模原理,提出了一种新的广义预测鲁棒自适应控制器,并分析了闭环系统性能,在新的控制器中,引入适当的前馈作用,使得跟踪和调节问题解耦,利用部分状态跟踪、模型参考以及极点配置方法解决跟踪问题,利用多步预测滚动优化方法解决调节问题;适当选择滤波器可以保证对平稳随机扰动有满意的响应,减少可调参数对闭环系统响应的影响,增强系统对未建模动态的鲁棒性,仿真结果表明:该控制器对确定性和非平稳随机扰动具有不变性,对系统时延和阶次变化具有鲁棒性,适用于非最小相位和开环不稳定系统。 相似文献
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An approach to the synthesis of control laws stabilizing motion and force in contact tasks, based on the exponential stability of the closed-loop control system, is described. When using the synthesized control laws, simultaneous stabilization of both motion and force is achieved with a preset quality of the transient responses. The task is solved in a most general form, taking into account the constraints on robot control, its position and the force of interaction of the robot and the environment, and the external perturbations and inaccuracies of the measuring sensors, when the environment dynamics is being described by nonlinear second-order differential equation, and the robot dynamics includes the third-order equations of the robot actuators dynamics. 相似文献
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对于具有较大时滞,非线性和时变性特点的打样机对象(它是印染行业中的一种小型设备),常规PID控制方法往往难以达到良好的控制效果.本文将专家控制器与常规PID控制器相结合,提出了一种智能控制器结构.试验表明,与常规PID控制器相比,该控制器的控制精度有了明显的提高. 相似文献
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一种专家智能控制器的仿真研究 总被引:1,自引:0,他引:1
该文提出一种专家智能控制器(简称为EI控制器).该控制器的参数可基于专家知识和过程参数的变化实时进行调整。仿真结果表明对于工业过程中的大纯滞后、非线性、变参数特性能获得较为满意的调节效果。 相似文献
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Jorge Diaz-Salgado Jesus Alvarez Alexander SchaumJaime A. Moreno 《Journal of Process Control》2012,22(1):303-320
The robust feedforward (FF) output-feedback (OF) control problem of (possibly open-loop unstable) continuous exothermic jacketed reactors with isotonic kinetics with respect to reactant concentration is considered. The volume, temperature, and concentration must be regulated by manipulating the feed, exit and coolant flowrates on the basis of volume and temperature measurements. The problem is addressed as an interlaced controller-observer design within a constructive control framework. The result is a quasi linear-decentralized (qLD) FF-OF dynamic controller which: (i) recovers (up to observer convergence) the behavior of a robust nonlinear FF-SF controller, (ii) has closed-loop stability conditions coupled with conventional-like tuning guidelines, and (iii) constitutes an add-on to the PI control scheme commonly employed in industrial reactors. The approach is tested with an open-loop unstable reactor example through simulations. 相似文献
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Juan Garrido Francisco Vázquez Fernando Morilla 《International journal of systems science》2016,47(5):1054-1072
This paper presents a new methodology to design multivariable proportional-integral-derivative (PID) controllers based on decoupling control. The method is presented for general n × n processes. In the design procedure, an ideal decoupling control with integral action is designed to minimise interactions. It depends on the desired open-loop processes that are specified according to realisability conditions and desired closed-loop performance specifications. These realisability conditions are stated and three common cases to define the open-loop processes are studied and proposed. Then, controller elements are approximated to PID structure. From a practical point of view, the wind-up problem is also considered and a new anti-wind-up scheme for multivariable PID controller is proposed. Comparisons with other works demonstrate the effectiveness of the methodology through the use of several simulation examples and an experimental lab process. 相似文献