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Design method of intelligent controller

A technology of intelligent controller and design method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as difficulties in control theory, and achieve the effect of strong adaptability

Active Publication Date: 2020-04-10
WUHAN MARINE ELECTRIC PROPULSION RES INST CHINA SHIPBUILDING IND CORP NO 712 INST
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

For the control objects that cannot establish accurate mathematical models, the traditional control theory is powerless, especially for the control objects with essential nonlinear characteristics that cannot establish accurate mathematical models, it is more difficult to apply traditional control theory

Method used

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  • Design method of intelligent controller

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] A design method for intelligent controllers, aimed at control objects that cannot establish accurate mathematical models or have intrinsic nonlinear characteristics, such as Figure 1 to Figure 4 shown, including the following steps

[0054] 1. Data normalization

[0055] In order to eliminate the influence of the dimension on the phase trajectory diagram, it is necessary to normalize the input data of the controller, including the input signal of the control system and the output signal of the control system.

[0056] 2. Determine the ideal phase trajectory

[0057] General control system phase trajectory such as figure 2 shown. Point A in the figure e(t r )=0, the control system reaches the steady state value for the first time, so t r It is the rising time of the control system; point B The rate of change of control system error is zero, at this time, e(t p ) is the control system overshoot σ p; C point|e(t s )|≤0.02(0.05), then t s It is the adjustment t...

Embodiment 2

[0100] Take the first-order controlled object model base with delay as follows:

[0101]

[0102] The optimal PID controller with error integral IAE=∫|e(t)|dt as the performance index is compared with the intelligent controller proposed in this patent. Among them, the parameter of the optimal PID controller is K p =2.1, T I =4.63, T D =0.91; the intelligent controller parameter is e max = 1, u max = 2, u min = -2, ε = 0.01, K p , T I , T D As above, the ideal phase trajectory of the intelligent controller is given by the method of drawing points. The simulation output waveform is as Figure 4 shown.

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Abstract

The invention discloses a design method of an intelligent controller. The method aims to solve the problem that an accurate mathematical model cannot be established or a control object with intrinsicnonlinear characteristics cannot be established. A phase plane method and a mode identification method are combined. The effect of an intelligent control system is quantitatively described and a characteristic mode class is convenient to establish. An ideal phase trajectory is provided, a corresponding relation between a control system performance index and the ideal phase trajectory is obtained,the system is divided into different characteristic mode classes according to state comparison of the real-time phase trajectory and the ideal phase trajectory of the system, and controller output isobtained according to a control algorithm set and an inference rule.

Description

technical field [0001] The invention belongs to the technical field of intelligent control, and in particular relates to a design method of an intelligent controller. Background technique [0002] In the face of control objects with intrinsically nonlinear characteristics and precise mathematical models, the phase plane method or description function method in traditional control theory can be used to design the control system. But for the control objects whose precise mathematical models cannot be established, traditional control theory is helpless, especially for the control objects with essential nonlinear characteristics that cannot establish accurate mathematical models, it is more difficult to apply traditional control theory. The intelligent control method weakens the dependence on the mathematical model of the controlled object, and generally has high stability and strong adaptability. Among the intelligent control methods, the intelligent control based on pattern r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 梁树甜窦晓峰汪伟谢佩韦
Owner WUHAN MARINE ELECTRIC PROPULSION RES INST CHINA SHIPBUILDING IND CORP NO 712 INST
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