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未建模动态增量补偿驱动的非线性PID控制及应用

张亚军 魏萃 柴天佑 卢绍文 崔东亮

张亚军, 魏萃, 柴天佑, 卢绍文, 崔东亮. 未建模动态增量补偿驱动的非线性PID控制及应用. 自动化学报, 2020, 46(6): 1145−1153 doi: 10.16383/j.aas.c190146
引用本文: 张亚军, 魏萃, 柴天佑, 卢绍文, 崔东亮. 未建模动态增量补偿驱动的非线性PID控制及应用. 自动化学报, 2020, 46(6): 1145−1153 doi: 10.16383/j.aas.c190146
Zhang Ya-Jun, Wei Cui, Chai Tian-You, Lu Shao-Wen, Cui Dong-Liang. Un-modeled dynamics increment compensation driven nonlinear PID control and its application. Acta Automatica Sinica, 2020, 46(6): 1145−1153 doi: 10.16383/j.aas.c190146
Citation: Zhang Ya-Jun, Wei Cui, Chai Tian-You, Lu Shao-Wen, Cui Dong-Liang. Un-modeled dynamics increment compensation driven nonlinear PID control and its application. Acta Automatica Sinica, 2020, 46(6): 1145−1153 doi: 10.16383/j.aas.c190146

未建模动态增量补偿驱动的非线性PID控制及应用

doi: 10.16383/j.aas.c190146
基金项目: 国家自然科学基金(61773107, 61603168, 61866021, 61890924, 61833004, 61991402, 61473107), 流程工业综合自动化国家重点实验室开放基金(PAL-N201808)资助
详细信息
    作者简介:

    张亚军:东北大学讲师. 主要研究方向为非线性模糊自适应控制理论, 广义预测控制, 多模型切换控制, 智能解耦控制, 数据驱动控制, 智能控制系统的大数据建模, 工业过程大数据建模及其应用.E-mail: yajunzhang@mail.neu.edu.cn

    魏萃:东北大学流程工业综合自动化国家重点实验室博士研究生. 主要研究方向为非线性控制, 机器人. 本文通信作者.E-mail: weicui@stumail.neu.edu.cn

    柴天佑:中国工程院院士, 东北大学教授. IEEE Fellow, IFAC Fellow, 欧亚科学院院士. 主要研究方向为自适应控制, 智能解耦控制, 流程工业综合自动化理论、方法与技术.E-mail: tychai@mail.neu.edu.cn

    卢绍文:东北大学流程工业综合自动化国家重点实验室教授. 主要研究方向为工业过程建模与仿真. 目前主要研究多尺度随机建模方法和可视化方法.E-mail: lusw@mail.neu.edu.cn

    崔东亮:东北大学讲师. 主要研究方向为多目标优化, 列车调度优化, 数据分析.E-mail: cuidongliang@mail.neu.edu.cn

Un-modeled Dynamics Increment Compensation Driven Nonlinear PID Control and Its Application

Funds: Supported by National Natural Science Foundation of China (61773107, 61603168, 61866021, 61890924, 61833004, 61991402, 61473107), and State Key Laboratory of Synthetical Automation for Process Industries (PAL-N201808)
  • 摘要: 针对一类具有强非线性、机理不清且动态特性随不同运行条件而变化的复杂过程, 将基于数据的建模技术与基于模型的控制策略相结合, 提出了未建模动态及其未知增量补偿驱动的非线性PID控制方法. 所提的算法将一步超前最优控制策略应用于PID控制器的参数设计, 并结合非线性补偿技术进行综合设计, 从理论上给出了PID控制器参数以及非线性补偿器设计的一般原则和方法, 为解决传统PID控制器参数难于整定的问题提供了方法和途径. 在此基础上, 分析了闭环系统的稳定性和收敛性. 最后, 将所提的控制算法进行数值仿真实验以及Pendubot系统平衡控制的对比实验, 实验结果表明, 在Pendubot的精确摩擦力模型未知的情况下, 所提算法能有效地消除系统未知时变不确定性的影响, 并尽可能地减少Pendubot摆角的波动, 将摆角控制在规定的目标值范围内.
  • 图  1  本文控制方法与文献[30]控制方法的仿真结果

    Fig.  1  Simulation results of the control method in [30] and the proposed method

    图  2  Pendubot系统实验平台

    Fig.  2  The experimental platform of the Pendubot system

    图  3  实验结果

    Fig.  3  Experimental results

    表  1  性能评价

    Table  1  Performance indexes

    绝对误差累积和 误差均方差
    文献[30] 23 396.5 2.7
    本文方法 8 156.1 1.8
    下载: 导出CSV

    表  2  性能评价

    Table  2  Performance indexes

    绝对误差累积和 误差均方差
    常规PD 361.1 6.5
    文献[30] 337.3 6.1
    本文方法 204.3 4.2
    下载: 导出CSV
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  • 收稿日期:  2019-03-07
  • 录用日期:  2019-06-09
  • 网络出版日期:  2020-07-10
  • 刊出日期:  2020-07-10

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