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mimo decoupling control method based on siso full-format model-free controller and partial derivative information

A decoupling control, model-free technology, applied in adaptive control, general control system, control/regulation system, 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 SISO full-format model-free controller and partial derivative information, which can simultaneously solve the problem of online self-tuning parameters of SISO full-format model-free controller and the relationship between multiple SISO systems. It provides a new method to solve the control problem of MIMO system

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  • mimo decoupling control method based on siso full-format model-free controller and partial derivative information
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  • mimo decoupling control method based on siso full-format model-free controller and partial derivative information

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[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 invention discloses a decoupling control method for a MIMO system based on a SISO full-format model-free controller and partial derivative information. The method comprises firstly decomposing theMIMO system into multiple mutually-coupled SISO systems according to the coupling characteristics and the tendency characteristics of the MIMO system; controlling the SISO system by a SISO full-format model-free controller; and based on a BP neural network, using partial deviation information as input, by using the minimization of a system error function value contributed by all SISO systematic errors as a goal and by using a gradient descent method in combination with control input, performing systematic error back-propagation calculation on the gradient information of each parameter to be set in the controller, realizing online automatic setting of parameters such as the penalty factor and the step length factor of the SISO full-format model-free controller, and simultaneously achievingonline decoupling among multiple SISO systems. The method can achieve a good control effect and is an effective means to solve the control problem of the MIMO system.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a MIMO decoupling control method based on SISO full-format model-free controller and partial derivative information. 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 te...

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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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