Simultaneous closed-loop tuning of cascade controllers based directly on set-point step-response data

This study presents a novel closed-loop tuning method for cascade control systems, in which both primary and secondary controllers are tuned simultaneously by directly using set-point step-response data without resorting to process models. The tuning method can be applied on-line to improve the performance of existing underperforming cascade controllers by retuning controller parameters, using routine operating data. The goal of the proposed design is to obtain the parameters of two proportional-integral-derivative (PID)-type controllers, so that the resulting inner and outer loops behave as similarly as possible to the appropriately specified reference models. The tuning rule and optimization problem related to the proposed design are derived. Based on the rationale behind cascade control, the secondary controller is designed based on disturbance rejection to quickly attenuate disturbances. The primary controller is designed to accurately account for the inner-loop dynamics, without requiring an additional test. In addition, robustness considerations are included in the proposed tuning method, which enable the designer to explicitly address the trade-off between performance and robustness for inner and outer loops independently. Simulation examples show that the proposed method exhibits superior control performance compared with the previous (model-based) tuning methods, confirming the effectiveness of this novel tuning method for cascade control systems.     

Generalized multi-scale control scheme for cascade processes with time-delays

The cascade control is a well-known technique in process industry to improve regulatory control performance. The use of the conventional PI/PID controllers has often been found to be ineffective for cascade processes with long time-delays. Recent literature report has shown that the multi-scale control (MSC) scheme is capable of providing improved performance over the conventional PID controllers for processes characterized by long time-delays as well as slow RHP zeros. This paper presents an extension of this basic MSC scheme to cascade processes with long time-delays. This new cascade MSC scheme is applicable to self-regulating, integrating and unstable processes. Extensive numerical studies demonstrate the effectiveness of the cascade MSC scheme compared with some well-established cascade control strategies.     

基于DSP的恒温控制系统设计与实现

介绍了应用于DNA提取自动化工作站的一种基于DSP(数字信号处理器)的恒温控制系统。针对自动化工作站中敞开式恒温模块的高精度温控要求和纯滞后、易受环境干扰的温控特点,分别对温控系统软硬件进行设计,应用改进的位置式PID控制算法并结合高质量的PID参数整定,实现了对恒温模块的高精度温度控制。实际测试结果表明,在开放式温控环境下,恒温模块的温控精度达到了±0.15℃,具有调温速度快、温控精度高和抗干扰能力强的特点,完全满足DNA提取自动化工作站的设计要求。     

混合步进电机的模糊控制研究

步进电机是非线性、时变、滞后的控制对象,容易受到环境因素的干扰,使得它在工业中的应用受到限制。为了提高两相混合步进电机的控制性能,论文结合模糊PID控制算法形成闭环控制,能够在线整定PID参数,改进了步进电机的控制方式以达到精确控制电机的目的,通过MATLAB仿真软件验证了该控制方法的精确性,并将该研究应用于柱塞式微量计量泵控制系统。     

基于模糊PID算法的空调机组温度控制

针对中央空调系统空调机组温度控制的非线性、滞后性及时变性等特点,设计了基于模糊PID算法的空调机组温度控制系统,实现了空调机组温度的实时在线控制.该系统选用MCGS组态软件实现系统运行状态的监控,使用西门子S7-1200 PLC进行现场设备控制.运行结果表明模糊PID控制器设计合理,有效改善了空调过程的调节品质,提高了空调机组的温度控制质量.     

自升式海洋平台多桩腿同步控制的研究

该文针对多电机同步控制系统的参数时变、非线性以及容易受负载扰动等因素,提出了基于相邻交叉耦合结构的BP神经网络PID控制算法,在Mathb/Simulink环境下搭建了多电机同步控制系统仿真模型.为实现自升式海洋平台升降过程的同步控制,在自升式海洋平台升降控制系统中引入了基于相邻交叉耦合结构的BP神经网络PID控制算法,经试运行表明,海洋平台升降过程中,同步性能好、系统可靠性高、结构简单、完全能够满足海洋平台的平稳升降要求.     

基于BPNN-PID的风电机组桨距控制分析

变桨控制技术是风力发电机组的核心技术之一,开展对风力发电机组变桨控制方面的研究具有重要的理论和应用价值。根据风力发电机组在额定风速以上如何保持输出功率稳定和降低风轮转速波动的控制技术进行研究,在传统的变桨距控制策略基础上,提出了基于BP神经网络(Neural Network,NN)整定PID的控制策略,并在Matlab/simulink环境下对PID控制和BP神经网络控制相结合的复合控制系统进行建模与分析。对1.5MW风电机组的仿真验证了BPNN-PID算法的有效性,提出算法不仅能够解决传统PID控制器参数整定困难的问题,而且优化效率更高,可以得到优良的控制性能。     

压延机挂胶帘布厚度自动检测及控制系统（续完）

(接上期)5　控制系统中相关参数的数据采集及控制处理5 1　速度自动检测本控制系统中速度检测是通过对交流测速电机的信号进行采样,通过AC/DC转换变为标准电压信号,输入到计算机进行A/D转换,并通过软件进行线形化处理后,参与压延数据分析及控制。速度信号转换电路简图如图15所示。图15　速度转换电路5 2　帘布长度自动检测本控制系统中长度检测是通过对冷却后的帘布进行长度计量,传感器选用了台湾EHM A3型计长器。其测量精度为0.1m,该传感器输出信号为标准脉冲信号,并进行光电隔离后,直接送入计算机运算即可实现长度测量。长度信号转换…     

Underactuated fingers controlled by robust and adaptive trajectory following methods

Choosing an appropriate control scheme to alleviate nonlinearities and uncertainties is not a trivial task, especially when models are not easily available and practical evaluation provides the only means for actual performance assessment. Various factors can contribute to these nonlinearities and uncertainties, such as friction and stiction. Thus, this article investigates four different control schemes, namely PID, adaptive, conventional sliding mode control (SMC) and integral sliding mode control (ISMC) which are implemented in the Bristol Elumotion Robot Hand (BERUL) to analyse and overcome the aforementioned problems. The hand has five fingers with 16 joints and all fingers are underactuated. The implementation of the proposed control schemes are challenging since the BERUL fingers have significant friction, stiction and unknown parameters. The fingers are light in weight and fragile. Comparative performance characteristics have shown that the ISMC is the most suitable candidate to provide good experimental trajectory following and positioning control for underactuated BERUL fingers.     

压延机挂胶帘布厚度自动检测及控制系统（续一）

(接上期 )4　厚度自动控制及软件实现方法4 1　压延机理描述和建模原理一般情况 ,压延机压延胶片的厚度取决于两辊之间的距离 ,压延力也起较大的作用。压延力越大 ,压延机加工的产品越薄。被加工材料的压延力特性如图 1 1中的曲线a所示 ,该曲线随工艺条件的变化而变化 ,压延力F可以看成是加工温度θ、压延速度U、材料种类R及产品加工厚度X的函数 ,即F =f(θ ,U ,R ,X) ( 6)　　当加工条件恒定时 ,压延力F可看成是产品厚度X的函数 ,即F =f(X)。另外 ,还有包含了压延机各种机理特性直线b。曲线a与直线b的交点P0 是加工状态的工作点 ,当…