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mimo decoupling control method based on siso partial scheme 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] To this end, the present invention proposes a MIMO decoupling control method based on the SISO partial format model-free controller and system error, which can simultaneously solve the problem of online self-tuning parameters of the SISO partial format model-free controller and 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 partial scheme model-free controller and system error

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[0055] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0056] 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 partial scheme model-free controllers.

[0057] For the jth (1≤j≤m) SISO partial scheme model-free controller, determine its control input linearization length constant L j , L j is an integer greater than 1; the jth SISO partial form model-free controller parameter contains the penalty factor λ j and step factor Determine the j...

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Abstract

The invention discloses a MIMO (Multiple Input and Multiple Output) decoupling control method based on a SISO (Single Input and Single Output) partial format model-free controller and system errors. According to the coupling characteristics and the tendency characteristics of the MIMO system, the MIMO system is decomposed into multiple mutually-coupled SISO systems, wherein each SISO system adoptsan SISO partial format model-free controller for control; and based on a BP neural network, the system errors are used as input, minimization of system error function values of comprehensively considering error contributions of all SISO systems is used as a target, a gradient descent method is adopted, gradient information for each to-be-set parameter of the controller is combined and controlledto be inputted, system error back propagation calculation is carried out, online self-tuning of parameters such as a penalty factor and a step factor of the SISO partial format model-free controller is realized, and online decoupling among multiple SISO systems is synchronously realized. The method put forward in the invention can realize good control effects and is an effective means for solvingthe 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-based SISO partial 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 char...

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Application Information

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