针对过程复杂且结构未知的对象,在保证模型有效性的前提下,根据数据信息构建简单模型来简化控制器的求解是亟待解决的问题。以受控自回归模型为例,提出一种基于修正最小角回归算法的稀疏辨识方法。首先将系统模型转化为过参数化的高维...针对过程复杂且结构未知的对象,在保证模型有效性的前提下,根据数据信息构建简单模型来简化控制器的求解是亟待解决的问题。以受控自回归模型为例,提出一种基于修正最小角回归算法的稀疏辨识方法。首先将系统模型转化为过参数化的高维稀疏模型,然后将最小角回归算法用于稀疏系统辨识,并提出绝对角度停止准则,使算法经过少量的迭代即可获得模型的稀疏参数估计,并同时获得有效的时滞和阶次估计。结合辨识得到的受控自回归模型,引入一种基于指定相位点频率和增益的比例-积分-微分(proportional integral derivative,PID)控制器。数值仿真和平衡机器人的姿态控制仿真表明,该稀疏辨识算法在低数据量下具有较高的辨识精度,建立的模型具有较好的泛化性能,控制器具有良好的控制效果。展开更多
天线伺服控制系统是通信系统的重要组成部分。天线伺服控制的稳定性和快速性直接影响通信质量的好坏。针对某一船站天线系统,在设计模糊自适应比例-积分-微分(Proportional Integral Derivative,PID)控制器的基础上,进行多模态控制系统...天线伺服控制系统是通信系统的重要组成部分。天线伺服控制的稳定性和快速性直接影响通信质量的好坏。针对某一船站天线系统,在设计模糊自适应比例-积分-微分(Proportional Integral Derivative,PID)控制器的基础上,进行多模态控制系统设计。通过设计一个切换阀值,将大比例控制、超前滞后控制、模糊自适应PID控制组合在一起。当位置误差较大时,用大比例控制,位置误差适中时用超前滞后控制,当误差小于一个阀值时,采用模糊自适应PID控制。多模态控制阶跃响应曲线前面一段用比例控制,响应速度更快,中间位置切换到超前滞后控制那段,避免超调震荡,最后段用模糊自适应PID控制,稳态误差小。利用Matlab进行仿真,仿真结果显示多模态控制能够得到比单一控制更好的动态响应性能。展开更多
The quantum bacterial foraging optimization(QBFO)algorithm has the characteristics of strong robustness and global searching ability. In the classical QBFO algorithm, the rotation angle updated by the rotation gate is...The quantum bacterial foraging optimization(QBFO)algorithm has the characteristics of strong robustness and global searching ability. In the classical QBFO algorithm, the rotation angle updated by the rotation gate is discrete and constant,which cannot affect the situation of the solution space and limit the diversity of bacterial population. In this paper, an improved QBFO(IQBFO) algorithm is proposed, which can adaptively make the quantum rotation angle continuously updated and enhance the global search ability. In the initialization process, the modified probability of the optimal rotation angle is introduced to avoid the existence of invariant solutions. The modified operator of probability amplitude is adopted to further increase the population diversity.The tests based on benchmark functions verify the effectiveness of the proposed algorithm. Moreover, compared with the integerorder PID controller, the fractional-order proportion integration differentiation(PID) controller increases the complexity of the system with better flexibility and robustness. Thus the fractional-order PID controller is applied to the servo system. The tuning results of PID parameters of the fractional-order servo system show that the proposed algorithm has a good performance in tuning the PID parameters of the fractional-order servo system.展开更多
为解决互联水电系统负荷频率控制（load frequencycontrol,LFC）问题,及保持互联电网系统频率、联络线功率及区域控制误差（area control error,ACE）的稳定,根据闭环系统谐振峰值与系统响应最大峰值之间的关系,构建一个与系统参数及控...为解决互联水电系统负荷频率控制（load frequencycontrol,LFC）问题,及保持互联电网系统频率、联络线功率及区域控制误差（area control error,ACE）的稳定,根据闭环系统谐振峰值与系统响应最大峰值之间的关系,构建一个与系统参数及控制器参数都相关的优化问题,通过该问题的求解获得控制器参数与系统参数之间的数学关系,针对水轮发电系统非最小相位特性,通过串加比例–微分（proportional-derivative,PD）控制方式降低系统阶次,设计尼科尔斯（Nichols）曲线的比例–积分–微分（proportional-integral-derivative,PID）控制器。基于模型参数扰动和负荷干扰的仿真结果表明：尼科尔斯PID控制器能快速调整系统频率偏差、联络线功率偏差及ACE为0,具有良好的鲁棒性能和抗负荷干扰性能,系统过渡过程性能明显优于传统PID调节器结果。展开更多
文摘针对过程复杂且结构未知的对象,在保证模型有效性的前提下,根据数据信息构建简单模型来简化控制器的求解是亟待解决的问题。以受控自回归模型为例,提出一种基于修正最小角回归算法的稀疏辨识方法。首先将系统模型转化为过参数化的高维稀疏模型,然后将最小角回归算法用于稀疏系统辨识,并提出绝对角度停止准则,使算法经过少量的迭代即可获得模型的稀疏参数估计,并同时获得有效的时滞和阶次估计。结合辨识得到的受控自回归模型,引入一种基于指定相位点频率和增益的比例-积分-微分(proportional integral derivative,PID)控制器。数值仿真和平衡机器人的姿态控制仿真表明,该稀疏辨识算法在低数据量下具有较高的辨识精度,建立的模型具有较好的泛化性能,控制器具有良好的控制效果。
文摘天线伺服控制系统是通信系统的重要组成部分。天线伺服控制的稳定性和快速性直接影响通信质量的好坏。针对某一船站天线系统,在设计模糊自适应比例-积分-微分(Proportional Integral Derivative,PID)控制器的基础上,进行多模态控制系统设计。通过设计一个切换阀值,将大比例控制、超前滞后控制、模糊自适应PID控制组合在一起。当位置误差较大时,用大比例控制,位置误差适中时用超前滞后控制,当误差小于一个阀值时,采用模糊自适应PID控制。多模态控制阶跃响应曲线前面一段用比例控制,响应速度更快,中间位置切换到超前滞后控制那段,避免超调震荡,最后段用模糊自适应PID控制,稳态误差小。利用Matlab进行仿真,仿真结果显示多模态控制能够得到比单一控制更好的动态响应性能。
基金supported by the National Natural Science Foundation of China(6137415361473138)+2 种基金Natural Science Foundation of Jiangsu Province(BK20151130)Six Talent Peaks Project in Jiangsu Province(2015-DZXX-011)China Scholarship Council Fund(201606845005)
文摘The quantum bacterial foraging optimization(QBFO)algorithm has the characteristics of strong robustness and global searching ability. In the classical QBFO algorithm, the rotation angle updated by the rotation gate is discrete and constant,which cannot affect the situation of the solution space and limit the diversity of bacterial population. In this paper, an improved QBFO(IQBFO) algorithm is proposed, which can adaptively make the quantum rotation angle continuously updated and enhance the global search ability. In the initialization process, the modified probability of the optimal rotation angle is introduced to avoid the existence of invariant solutions. The modified operator of probability amplitude is adopted to further increase the population diversity.The tests based on benchmark functions verify the effectiveness of the proposed algorithm. Moreover, compared with the integerorder PID controller, the fractional-order proportion integration differentiation(PID) controller increases the complexity of the system with better flexibility and robustness. Thus the fractional-order PID controller is applied to the servo system. The tuning results of PID parameters of the fractional-order servo system show that the proposed algorithm has a good performance in tuning the PID parameters of the fractional-order servo system.
文摘为解决互联水电系统负荷频率控制（load frequencycontrol,LFC）问题,及保持互联电网系统频率、联络线功率及区域控制误差（area control error,ACE）的稳定,根据闭环系统谐振峰值与系统响应最大峰值之间的关系,构建一个与系统参数及控制器参数都相关的优化问题,通过该问题的求解获得控制器参数与系统参数之间的数学关系,针对水轮发电系统非最小相位特性,通过串加比例–微分（proportional-derivative,PD）控制方式降低系统阶次,设计尼科尔斯（Nichols）曲线的比例–积分–微分（proportional-integral-derivative,PID）控制器。基于模型参数扰动和负荷干扰的仿真结果表明：尼科尔斯PID控制器能快速调整系统频率偏差、联络线功率偏差及ACE为0,具有良好的鲁棒性能和抗负荷干扰性能,系统过渡过程性能明显优于传统PID调节器结果。
