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mimo decoupling control method based on siso full-format model-free controller and system error

A system error, decoupling control technology, applied in general control systems, control/regulation systems, adaptive control, etc.

Active Publication Date: 2020-10-09
ZHEJIANG UNIV
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Problems solved by technology

[0007] For this reason, the present invention proposes a MIMO decoupling control method based on the SISO full-format model-free controller and system error, which can simultaneously solve the problem of online self-tuning parameters of the SISO full-format model-free controller and the communication between multiple SISO systems. The difficult problem of online decoupling provides a new method for solving the control problem of MIMO system

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  • mimo decoupling control method based on siso full-format model-free controller and system error

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Embodiment Construction

[0059] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0060] figure 1 The principle block diagram of the present invention is given. According to the coupling characteristics and tendency characteristics of the MIMO system, select an input and an output to form a SISO system, repeat m times, and decompose the MIMO system into m mutually coupled SISO systems, and any one of the SISO systems The input is not used as the input of other SISO systems, and the output of any SISO system is not used as the output of other SISO systems; m SISO systems are controlled by m SISO full-format model-free controllers.

[0061] For the jth (1≤j≤m) SISO full format model-free controller, determine its control output linearization length constant Ly j (Ly j is an integer greater than or equal to 1) and the control input linearization length constant Lu j (Lu j is an integer greater than or equal to 1); the jth ...

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Abstract

The present invention discloses a decoupling control method of MIMO (Multiple Input and Multiple Output) based on an SISO (Single Input and Single Output) full-format model free controller and systemerrors. The method comprises the steps of: decomposing an MIMO system into a plurality of mutually coupling SISO systems according to coupling features and tendency features of the MIMO system, wherein the SISO systems employ an SISO full-format model free controller for controlling; and based on a BP neural network, taking system errors as input, taking minimization of a system error function value contributed by all the SISI system errors through comprehensive consideration as a target, employing a gradient descent method, and combining control input to perform system error back propagationcalculation for gradient information of each parameter to be set of the controller to achieve online self setting of parameters such as penalty factors, step factors and the like of the SISO full-format model free controller and perform synchronously achieving online decoupling among the plurality of SISO systems. The method provided by the invention can achieve a good control effect and is an efficient means for solving an MIMO system control problem.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a MIMO-based SISO full-format model-free controller and a decoupling control method for system errors. Background technique [0002] The control problem of MIMO (Multiple Input and Multiple Output) system has always been one of the major challenges in the field of automation control. A typical feature of MIMO systems is coupling, that is to say: a change in one input often causes multiple outputs to change, and one output is often not only affected by one input; but at the same time, this coupling is in most cases , especially in the field of industrial process automation control, it will show tendentious characteristics, that is to say: a change in an input tends to cause a specific output to change significantly while affecting other outputs less, an output Tends to be significantly affected by one particular input and less affected by others. The tendency charact...

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Application Information

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