MIMO different-factor compact-format model-free control method with self-tuning parameters
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A technology of parameter self-tuning and control methods, applied in the direction of adaptive control, general control systems, neural learning methods, etc., can solve the problems that restrict the popularization and application of MIMO compact format model-free control methods, and it is difficult to achieve control effects, so as to achieve wide application The effect of high stability, good stability and high control precision
Inactive Publication Date: 2019-05-28
ZHEJIANG UNIV
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When the existing MIMO compact scheme model-free control method with the same factor is applied to complex objects such as strongly nonlinear MIMO systems, it is often difficult to achieve the ideal control effect due to the different characteristics of the control channels, which restricts the development of the MIMO compact scheme model-free control method. Promote application
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[0042] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0043] figure 1 The principle block diagram of the present invention is given. For a MIMO system with m inputs (m is a positive integer greater than 1) and n outputs (n is a positive integer), the MIMO different-factor compact scheme model-free control method is used for control. For the ith control input u i (k)(i=1,…,m), the MIMO different-factor compact scheme model-free control method is used to calculate u i The parameters of the mathematical formula of (k) include the penalty factor λ i , step factor ρ i ; select u i The parameter to be tuned in the mathematical formula of (k), which is u i (k) part or all of the parameters of the mathematical formula, including the penalty factor λ i , step factor ρ i any one or combination of any of the figure 1 In the schematic diagram, all control inputs u i (k) The parameter to be adjusted ...
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Abstract
The invention discloses an MIMO different-factor compact-format model-free control method with self-tuning parameters, and aims at the limitation of a prior MIMO compact-format model-free control method adopting a same-factor structure, namely, aiming at the limitation that different control inputs in a control input vector at a k moment can only adopt penalty factors with the same numerical valueand step factors with the same numerical value, an MIMO compact-format model-free control method adopting a different-factor structure is provided, different control inputs in a control input vectorat the k moment can adopt penalty factors with different numerical values and step factors with different numerical values, the control problem of different characteristics of various control channelsin complex objects such as a strong nonlinear MIMO system can be solved. Meanwhile, a method of parameter self-tuning is provided to solve the problem that tuning of the penalty factors and step factors is time consuming and labor consuming. Compared with a prior control method, the method has higher control precision, better stability and wider applicability.
Description
technical field [0001] The invention belongs to the field of automatic control, in particular to a parameter self-tuning MIMO different factor compact format model-free control method. Background technique [0002] Most of the controlled objects in oil refining, petrochemical, chemical, pharmaceutical, food, paper, water treatment, thermal power, metallurgy, cement, rubber, machinery, electrical and other industries, including reactors, distillation towers, machines, equipment, devices, production lines , workshops, and factories are essentially MIMO (Multiple Input and Multiple Output) systems. Realizing high-precision, high-stability, and high-applicability control of the MIMO system is of great significance to energy saving, consumption reduction, quality improvement and efficiency increase in the industry. However, the control problems of MIMO systems, especially the control problems of strongly nonlinear MIMO systems, have always been a major challenge in the field of ...
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