Parameter self-tuning method of MISO tight format model-free controller based on system errors

Abstract

The invention discloses a parameter self-tuning method of a MISO tight format model-free controller based on system errors. The method includes: a system error set is adopted as input of a BP neural network, the BP neural network performs forward calculation and outputs to-be-tuned parameters of the MISO tight format model-free controller, such as a penalty factor and a step factor, through an output layer, a control input vector of a controlled object is obtained through calculation by employing a control algorithm of the MISO tight format model-free controller, the minimization of a value ofa system error function is regarded as the target, reverse propagation calculation of the system errors is performed aiming at a gradient information set of each to-be-tuned parameter with the combination of control input by employing a gradient descent method, weight coefficients of a hidden layer and the output layer of the BP neural network are updated in real time in an online manner, and parameter self-tuning of the controller based on the system errors is realized. According to the parameter self-tuning method of the MISO tight format model-free controller based on the system errors, the online tuning problem of the parameters of the controller can be effectively overcome, and a good control effect of the MISO system is achieved.

Description

technical field [0001] The invention belongs to the field of automatic control, in particular to a parameter self-tuning method of a MISO compact format model-free controller based on system errors. Background technique [0002] The control problem of MISO (Multiple Input and Single Output) system has always been one of the major challenges in the field of automation control. [0003] Existing implementations of MISO controllers include MISO compact form model-free controllers. MISO compact format 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 input and output data measured by the MISO controlled object in real time for controller analysis and design, and The realization is simple, the calculation burden is small and the robustness is strong, and the unknown nonlinear time-varying MISO system can also be well controlled, and has a good application p...

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Problems solved by technology

[0006] However, the MISO compact format model-free controller needs to rely on empirical knowledge to pre-set the values ​​of the penalty factor λ and the step size factor ρ before it is actually put into use. Online self-tuning of parameters such as factor ρ

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

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