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System-error-based parameter self-setting method of SISO tight-format model-free controller

A technology of parameter self-tuning and system error, applied in general control system, control/regulation system, adaptive control and other directions, can solve the problem of time-consuming and laborious debugging process of SISO compact model-free controller, lack of effective tuning methods, affecting SISO Tight format model-free controller control effect and other problems, to achieve the effect of good control effect

Active Publication Date: 2018-04-20
ZHEJIANG UNIV
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Problems solved by technology

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

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  • System-error-based parameter self-setting method of SISO tight-format model-free controller
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Embodiment Construction

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0040] figure 1 The principle block diagram of the present invention is given. SISO compact format model-free controller parameters include penalty factor λ and step size factor ρ; determine the SISO compact format model-free controller parameters to be tuned, the SISO compact format model-free controller parameters to be tuned, for the SISO compact format Part or all of the parameters of the model controller, including any one or any combination of the penalty factor λ and the step size factor ρ; in figure 1 Among them, the parameters to be tuned by the SISO compact format model-free controller are the penalty factor λ and the step size factor ρ; the number of input layer nodes, the number of hidden layer nodes, and the number of output layer nodes of the BP neural network are determined, and the number of nodes in the output layer is not Le...

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Abstract

The invention discloses a system-error-based parameter self-setting method of a single-input-and-single-output (SISO) tight-format model-free controller. A system error and a function group are used as the input of a BP neural network. The BP neural network carries out forward calculation and outputs to-be-set parameters like a penalty factor and a step-size factor of an SISO tight-format model-free controller through an output layer. Calculation is carried out by using a control algorithm of the SISO tight-format model-free controller to obtain a control input for a controlled object; and with minimization of a value of a system error function as an objective, system error back-propagation calculation is carried out on gradient information of all to-be-set parameters by combining the control input based on a gradient descent method. A hidden layer weight coefficient and an output layer weight coefficient of the BP neural network are updated in real time in an online manner and system-error-based self setting of the parameters of the controller is realized. With the system-error-based parameter self-setting method, the setting problem of the parameters of the controller can be solved; and the good control effect is realized.

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 compact 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 implementation methods of model-free controllers, among which SISO (Single Input and Single Output, single input and single output) compact format model-free controller is one of the main implementation methods of model-free controllers. The theoret...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 卢建刚李雪园
Owner ZHEJIANG UNIV
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