Improved smith predicting controller

A controller and improved technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as large overshoot and poor stability of Smith predictor, and achieve the effect of solving deviation

Inactive Publication Date: 2015-04-29
NORTHEAST FORESTRY UNIVERSITY
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AI Technical Summary

Problems solved by technology

Aiming at the problems of poor stability and large overshoot of Smith predictor based on PID controller in the large lag system lacking precise mathematical model and time-varying parameters, an improved fuzzy adaptive PID-Smith predictor controller is proposed

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Embodiment Construction

[0012] figure 1 Is the flow chart formed by the improved Smith predictor controller. The intelligent control prediction algorithm of the present invention comprises the following steps:

[0013] (1) Design a fuzzy adaptive PID controller to replace the original PID controller, which is mainly composed of a PID control regulator and a fuzzy inference engine. The error e and the error change rate ec are used as the input of the controller, and k of the PID control parameter p 、k i 、k d As an output, use the fuzzy control rules to modify the PID control parameters in real time to meet the requirements of e and ec at different times for PID parameter self-tuning.

[0014] (2) An inner feedback loop is added before the large time-delay link of the controlled system model of the conventional Smith predictor, and the feedback signal is sent to the input end of the estimated model and the actual controlled object through the inner feedback loop at the same time and communicated wi...

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Abstract

An improved Smith predicting controlling algorithm comprises the following steps: designing a fuzzy adaptive PID controller to replace an original PID controller, wherein the fuzzy adaptive PID controller mainly comprises a PID control regulator and a fuzzy inference engine, and modifying a PID control parameter according to a fuzzy control rule in real time by using an error e and the change rate ec of the error as the input of the controller and the kp, ki and kd of the PID control parameter as the output, so as to meet the requirements of e and ec for the self-regulation of the PID parameter at different moments; adding an inner feedback loop, sending a feedback signal to a predicting model and an input end of an actually-controller object by the inner feedback loop at the same time, comparing the feedback signal with the output of a main controller, using the difference as an input signal of the actually-controlled object and the predicting model and introducing an adaptive regulator. Therefore, the problem of deviation caused by the change of an open-loop gain parameter is solved by changing the value of a proportional controller continuously.

Description

Technical field [0001] The invention relates to an intelligent control algorithm, in particular to an improved control algorithm based on a conventional Smith predictor. Background technique [0002] At present, most of the control systems of numerical control equipment adopt PID controllers. PID controllers are simple in design, easy to operate and easy to implement, and basically meet the needs of most control systems. However, if there is a large time lag in the system. A control system with hysteresis usually has a large overshoot, and the adjustment time is too long. When there is interference from external factors, the conventional PID controller basically cannot immediately inhibit it. Smith predictive control is the first control scheme specially proposed for hysteretic systems. It reduces overshoot and accelerates the adjustment process by pre-estimating the dynamic characteristics of the system and making compensation. In 1974, Smith proposed a predictive control...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 任洪娥曹学海郭继峰
Owner NORTHEAST FORESTRY UNIVERSITY
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