System-error-based parameter self-setting method of MIMO (Multiple Input and Multiple Output) tight-format model-free controller

Abstract

The invention discloses a system-error-based parameter self-setting method of an MIMO (Multiple Input and Multiple Output) tight-format model-free controller. According to the invention, a system error set is utilized to serve 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 the MIMO tight-format model-free controller through an output layer, calculation is carried out by adopting a control algorithm of the MIMO tight-format model-free controller to obtain a control inputvector for a controlled object, and system error back-propagation calculation is carried out on a gradient information set of all to-be-set parameters by combining the control input based on a gradient descent method by taking the minimization of a value of a system error function as an objective, a hidden layer weight coefficient and an output layer weight coefficient of the BP neural network areupdated 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 provided by the invention of the MIMO tight-format model-free controller, a problem of online setting for the parameters of the controller can be effectively overcome, and a good control effect is achieved for theMIMO system.

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 MIMO compact format model-free controller based on 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. [0003] Existing implementations of MIMO controllers include MIMO compact-form model-free controllers. MIMO 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 MIMO controlled object in real time for controller analysis and design, and The implementation is simple, the calculation burden is small and the robustness is strong, and the unknown nonlinear time-varying MIMO system can also be well controlled, and has a g...

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Problems solved by technology

[0006] However, the MIMO 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. On-line self-tuning of parameters such as factor ρ

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

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