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鱼雷中的制导系统对于其打击精确度起着十分重要的作用。PID控制是一种常规的控制方法,在鱼雷自动控制系统中得到应用,但在进行参数整定时,存在着响应速度与超调之间的矛盾。预测函数控制方法具有控制量计算方程简单、实时控制计算量小、跟踪快速等特点。对鱼雷偏航角速度控制系统进行研究,先对系统的传递函数降阶,再采用PFC进行控制。仿真结果表明,这种控制方法具有更好的控制效果。 相似文献
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针对含铜废水处理pH值控制过程存在时变、非线性及各变量强耦合的特性,在分析被控对象特性的基础上,设计了以分段式变增益PID控制器为核心的含铜废水pH值控制系统,详细介绍了系统主要的硬件结构图和软件框图.提出了一种新颖的管道恒压实现变量解耦的控制方法,解决了控制系统多变量耦合难题.系统运行结果证明,该控制系统性能稳定可靠,能快速准确的达到废水pH值控制要求,且易于实现和推广. 相似文献
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MIMO大滞后液位控制系统的设计与研究是针对具有多变量强耦合、大滞后等特性的复杂工业过程提出相应的多变量解耦控制策略,对现有复杂多变量对象的解耦算法进行试验研究,以满足现代更高性能的控制要求。设计的系统在自动化重点实验室“多输入多输出过程计算机控制系统”平台上运行良好,开发设计出了具有大滞后的三容永箱液位控制系统实验平台。完成了设计的要求,满足系统性能指标。 相似文献
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基于模糊控制的卫星大角度姿态机动控制方法研究 总被引：1，自引：0，他引：1
本文设计了一个典型Mamdani类PD型模糊控制器来研究卫星大角度姿态机动控制问题。卫星姿态机动控制要求控制系统响应快、具有较强鲁棒性。模糊控制器的设计十分灵活，在控制性能方面有自己突出的特点。通过仿真，考察了模糊控制器的隶属函数在各种参数下的不同控制性能，与一个传统I/O解耦PID控制器的控制效果进行比较，并验证了模糊控制器的鲁棒性。仿真结果证实模糊控制用于姿态机动控制有良好的效果。 相似文献
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板形板厚对象具有非线性,大滞后,耦合的特点,本文采用自适应解耦的控制方法,在被控对象进行在线辨识的基础上,对自适应控制参数进行实时调整,使系统具有自适应性,仿真结果表明解耦效果良好。 相似文献
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交流电机是高阶、非线性、强耦合的多变量系统,数学模型要比直流电机复杂得多,传统PID的控制方法是基于其精确的数学模型,简单但效果不理想。文章结合模糊控制和PID控制的优点,并以DSP处理器为核心,利用其高速数字处理能力设计出交流电机的模糊PID控制系统。Matlab仿真实验证明,采用模糊PID控制方法,该系统转速动态响应快、稳态静差小、抗负载扰动能力强,具有可行性和有效性。 相似文献
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论文分析了锅炉燃烧换能过程的多输入、多输出、大时滞、紧耦合、非线性等特点,针对传统PID控制算法的计算过程繁复、计算量过大、模型校正在线参数辨识以及约束条件下控制等问题展开了研究,提出了阶梯式广义预测控制算法,并将研究结果应用仿真锅炉燃烧过程的测量与控制中,取得了较好效果. 相似文献
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《Journal of The Franklin Institute》2023,360(4):2476-2506
A novel direct synthesis (DS) method for simultaneous and non-iterative design of multi-loop PID controllers for stable multivariable processes is presented in this article. We deal with the specifications of the desired closed-loop dynamics, which is a critical design decision in the DS method, for designing multi-loop controllers. Control loop interactions in multi-loop control systems are usually undesirable but unavoidable due to inter-channel interactions of multivariable processes. The main feature of the method is that the multi-loop control design aims at reducing the interactions among loops. The proposed DS method specifies the design target in terms of the frequency response of the desired closed-loop transfer function (CLTF) and synthesizes the controllers in the frequency domain. We develop an approach to effectively specify the desired closed-loop frequency response to achieve improved control performance by minimizing the sum of the magnitude of the interactive parts in the desired CLTF matrix. With the desired closed-loop frequency response and a process model, the frequency response of an ideal multi-loop controller is synthesized and then approximated to a PID controller. We provide simulation studies of three industrial benchmark processes and a nonlinear quadruple tank system to illustrate the design result and performance of the proposed method and make comparisons with several existing methods. Our results prove the effectiveness of the frequency-domain DS method. The proposed multi-loop PID controllers achieve reduced loop interactions and provide satisfactory overall performance. 相似文献
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Though over the years, mathematical modelling of fuzzy PID controllers is carried out extensively with two-dimensional and three-dimensional input spaces, the modelling is rarely attempted using one-dimensional input space. In this paper, this gap is reduced by proposing a simple approach where each of the fuzzy P, fuzzy I, and fuzzy D components is modelled using one-dimensional input space and merged to provide the complete PID action. Another speciality of the proposed approach is that it does not require any AND or OR operator for obtaining the mathematical models of individual PID components. To the best of author’s knowledge, such a modelling approach is completely new. This newly introduced idea of modelling is further extended to fractional order fuzzy PID controllers. Applicability of the proposed fuzzy controllers is delineated with four simulation examples and one real-time experimentation case study. To understand the usefulness of the proposed control schemes, performances of the newly obtained controllers are compared with the results available in literature. As the proposed controllers are model-free controllers, they can easily be implemented for other control applications also. 相似文献
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This article presents a novel tuning design of Proportional-Integral-Derivative (PID) controller in the Automatic Voltage Regulator (AVR) system by using Cuckoo Search (CS) algorithm with a new time domain performance criterion. This performance criterion was chosen to minimize the maximum overshoot, rise time, settling time and steady state error of the terminal voltage. In order to compare CS with other evolutionary algorithms, the proposed objective function was used in Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) algorithms for PID design of the AVR system. The performance of the proposed CS based PID controller was compared to the PID controllers tuned by the different evolutionary algorithms using various objective functions proposed in the literature. Dynamic response and a frequency response of the proposed CS based PID controller were examined in detail. Moreover, the disturbance rejection and robustness performance of the tuned controller against parametric uncertainties were obtained, separately. Energy consumptions of the proposed PID controller and the PID controllers tuned by the PSO and ABC algorithms were analyzed thoroughly. Extensive simulation results demonstrate that the CS based PID controller has better control performance in comparison with other PID controllers tuned by the PSO and ABC algorithms. Furthermore, the proposed objective function remarkably improves the PID tuning optimization technique. 相似文献
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This paper proposes a time domain approach to deal with the regional eigenvalue-clustering robustness analysis problem of linear uncertain multivariable output feedback proportional-integral-derivative (PID) control systems. The robust regional eigenvalue-clustering analysis problem of linear uncertain multivariable output feedback PID control systems is converted to the regional eigenvalue-clustering robustness analysis problem of linear uncertain singular systems with static output feedback controller. Based on some essential properties of matrix measures, a new sufficient condition is proposed for ensuring that the closed-loop singular system with both structured and mixed quadratically-coupled parameter uncertainties is regular and impulse-free, and has all its finite eigenvalues retained inside the same specified region as the nominal closed-loop singular system does. Two numerical examples are given to illustrate the application of the presented sufficient condition. 相似文献
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倒立摆系统本身是一个非线性控制系统,具有多变量、高阶次、强耦合以及严重不稳定的特点。主要任务是设计一个基于PID算法的旋转倒立摆控制系统,利用单片机运用PID算法对系统进行控制,能够使旋转倒立摆的摆杆快速达到倒立平衡状态并具有一定的抗干扰能力。 相似文献
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R. Padma Sree 《Journal of The Franklin Institute》2006,343(2):152-160
The method of identifying first order plus time delay transfer function model proposed for unstable systems by Ananth and Chidambaram [Closed loop identification to transfer function model for unstable systems, J. Franklin Inst. 336 (1999) 1055-1061] is modified to avoid the stability problems [Cheres, Parameter estimation of an unstable system with a PID controller in a closed loop configuration, J. Franklin Inst., 2005, accepted for publication] of the method. Two modifications are proposed. In the first modification of the method, the under-determined algebraic equations problem is converted into an optimization problem for calculation of the three parameters of the first order plus time delay (FOPTD) model. A simple method is given for the initial guess values of the model parameters. In the second approach, from the definition of Laplace transform of the output response, a third equation is formulated. The resulted three equations, in terms of the three parameters of the transfer function model, are then numerically solved. Simulation results are given for the second order plus time delay transfer function considered by Cheres 2005 [Parameter estimation of an unstable system with a PID controller in a closed loop configuration, J. Franklin Inst., 2005, accepted for publication]. The responses of the identified models with the same PID controllers are compared with that of the actual system. PID controllers are designed based on the identified models. The closed loop responses of the controllers on the original system are evaluated and compared. The present methods give better control performances. 相似文献
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《Journal of The Franklin Institute》2023,360(14):10536-10563
A new framework of optimal fractional order proportional-derivative-integral (FOPID) controller series with fuzzy proportional-derivative (PD) controller, namely OFPD-FOPID controller, is proposed in this study for seismic control of structures equipped with active tuned mass damper (ATMD). Three controllers including optimal PID, optimal FOPID, and fuzzy PID (FPID) controllers are also implemented for comparison purposes. Simulation results carried out on a 15-story building show the FOPID controller than the PID and FPID controllers can remarkably reduce the maximum floor displacement, but they represent a poor performance in mitigation of the maximum floor acceleration in different soil conditions, while the proposed OFPD-FOPID controller tracking the amount of the maximum floor acceleration to estimate the optimal control force of the actuator can provide superior performance. An average reduction of 41%, 45%, and 33% in the maximum floor displacement; 36%, 33%, and 20% in the maximum inter-story drift are given by FOPID in the dense, medium, and soft soils, while it results in an increase of 45%, 52% and 24% in the maximum floor acceleration. Similarly, the proposed OFPD-FOPID controller represents an average reduction of 52%, 55%, and 45% in the maximum floor displacement; 42%, 44%, and 28% in the maximum inter-story drift in the dense, medium, and soft soils, while it also slightly reduces the maximum floor acceleration of the studied structure located on different soil conditions. 相似文献
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Raghuraman Sivalingam Subramani Chinnamuthu Subhransu Sekhar Dash 《Journal of The Franklin Institute》2017,354(12):4762-4783
This paper proposes to use a hybrid Stochastic Fractal Search (SFS) and Local Unimodal Sampling (LUS) based multistage Proportional Integral Derivative (PID) controller consisting of Proportional Derivative controller with derivative Filter (PDF) plus (1 + Proportional Integral) for Automatic Generation Control (AGC) of power systems. Initially, a single area multi-source power system consisting of thermal hydro and gas power plants is considered and parameters of Integral (I) controller is optimized by Stochastic Fractal Search (SFS) algorithm. The superiority of SFS algorithm over some recently proposed approaches such as optimal control, Differential Evolution (DE) and Teaching Learning Based Optimization (TLBO) is demonstrated. To improve the system performance further, LUS is subsequently employed. The study is further extended for different controllers like PID, and proposed multistage PID controller and the superiority of multistage PID controller over conventional PID controller structure is demonstrated. The study is further extended to a two-area six unit multi-source interconnected power system and the superiority of proposed approach over, TLBO and optimal control is demonstrated. Finally the study is extended to a three unequal area system power system with appropriate nonlinearities such as Generation Rate Constraint (GRC), Governor Dead Band (GDB) and time delay. From the analysis, it is found that hybrid SFS–LUS algorithm is superior to the original SFS algorithm and substantial improvement in system performance are realized with proposed multistage PID controller over conventional PID controller structure. 相似文献
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《Journal of The Franklin Institute》2023,360(8):5689-5727
This paper provides a new fast design method for robust industrial controllers via majorant systems in the frequency domain. The proposed methodology allows to establish several fast design techniques for a broad class of industrial controllers of plants with internal and/or external delays, parametric and/or structural uncertainties, and subject to disturbances, when an analytical model of the plant or data acquired from simple experimental tests are available. The provided design and control techniques are more general with respect to the Ziegler-Nichols ones and their numerous variants, which, in some cases, do not guarantee the control system stability.The used key idea consists in increasing the frequency response of the process to be controlled with the frequency response of a simpler system, also of order greater than one, with external delay, which allows designing, using simple formulas, controllers of PI, PID, PIDR, PI2, PI2D, PI2DR, PI2D2, and PI2D2R types. The designed controllers always guarantee stability margins larger than those of appropriate reference systems. Therefore, good performance of robustness of the stability and tracking precision of smooth references, with respect to parametric and/or structural uncertainties and/or smooth disturbances, are always guaranteed.The stated general methodology and various performance comparisons, also about the tracking precision of references with bounded first or second derivative, are illustrated and validated in several case studies, experimentally too. 相似文献