Parameter self-tuning method based on system error for siso full-format model-free controller

A parameter self-tuning and system error technology, which is applied in general control systems, control/regulation systems, adaptive control, etc., can solve the time-consuming and laborious debugging process of SISO full-format model-free controllers, lack of effective tuning methods, and affect SISO Full format without model controller control effect and other issues, to achieve good control effect

Active Publication Date: 2020-06-09
ZHEJIANG UNIV
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Problems solved by technology

The lack of effective parameter setting methods not only makes the debugging process of the SISO full-format model-free controller time-consuming and laborious, but also sometimes seriously affects the control effect of the SISO full-format model-free controller, restricting the development of the SISO full-format model-free controller. Promote application

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  • Parameter self-tuning method based on system error for siso full-format model-free controller
  • Parameter self-tuning method based on system error for siso full-format model-free controller
  • Parameter self-tuning method based on system error for siso full-format model-free controller

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0046] figure 1 The principle block diagram of the present invention is given. Determine the control output linearization length constant Ly of the SISO full-format model-free controller, Ly is an integer greater than or equal to 1; determine the control input linearization length constant Lu of the SISO full-format model-free controller, and Lu is greater than or equal to 1 Integer; SISO full format model-free controller parameters include penalty factor λ and step factor ρ 1 ,…,ρ Ly+Lu ; Determine the SISO full-format model-free controller parameters to be tuned, the SISO full-format model-free controller parameters to be tuned, which are part or all of the SISO full-format model-free controller parameters, including penalty factor λ and step size factor ρ 1 ,…,ρ Ly+Lu any one or combination of any of the figure 1 In SISO full format mo...

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Abstract

The invention discloses a system error-based parameter self-tuning method for an SISO full format model free controller. System errors and a function group thereof are used as input for a BP neutral network, and forward calculating operation is performed via the BP neutral network; SISO full format model free controller parameters to be tuned such as penalty factors, step length factors and the like are output via an output layer; a control algorithm for the SISO full format model free controller is adopted for calculating control input of a controlled object, an aim of the method is to minimizing a value of a system error function, and a gradient descent method is adopted for conducting system error back propagation calculating operation on gradient information of each parameter to be tuned based on control input; a hidden layer weight coefficient and an output layer weight coefficient of the BP neutral network are updated online in real time, and therefore system error-based parameter self-tuning for the controller is realized. The system error-based parameter self-tuning method for the SISO full format model free controller put forward in the invention can be used for effectively solving difficult problems of tuning controller parameters, and good control effects can be exerted.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a parameter self-tuning method of a SISO full-format model-free controller based on system errors. Background technique [0002] Model-free controller is a new type of data-driven control method, which does not rely on any mathematical model information of the controlled object, but only relies on the real-time measured input and output data of the controlled object for controller analysis and design, and realizes concise, computational The burden is small and the robustness is strong, and the unknown nonlinear time-varying system can also be well controlled, and has a good application prospect. [0003] There are many ways to realize the model-free controller, among which the SISO (Single Input and Single Output, single input and single output) full-format model-free controller is one of the main ways to realize the model-free controller. The theoretical basis of th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/02
CPCG05B13/024
Inventor 卢建刚李雪园
Owner ZHEJIANG UNIV
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