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Optimal hybrid H2/H-infinity robust controller design method based on genetic algorithm

A robust controller and genetic algorithm technology, applied in the field of optimal hybrid H2/H∞ robust controller design based on genetic algorithm

Pending Publication Date: 2021-12-07
KUNMING UNIV OF SCI & TECH
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Problems solved by technology

[0007] The invention provides an optimal hybrid H based on genetic algorithm 2 / H ∞ Robust controller design method to solve the technical problems existing in the existing robust controller design

Method used

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  • Optimal hybrid H2/H-infinity robust controller design method based on genetic algorithm
  • Optimal hybrid H2/H-infinity robust controller design method based on genetic algorithm
  • Optimal hybrid H2/H-infinity robust controller design method based on genetic algorithm

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Embodiment 1

[0076] An Optimal Hybrid H Based on Genetic Algorithm 2 / H ∞ Robust controller design methods, such as figure 2 As shown, the specific steps are as follows:

[0077] (1) Based on the MATLAB platform, the initial population is generated by a genetic algorithm;

[0078] (2) For the introduced system disturbance w linear time invariant controlled system's state equation model is:

[0079]

[0080] Among them, x is the system state vector, u is the control input of the system, y is the system output, w is the external disturbance input, C y is the identity matrix I, D y1 = 0;

[0081] On this basis, introduce the system H 2 and H ∞ Robust performance evaluation signal output z ∞ ,z 2 , its state space can be described as:

[0082]

[0083] For weighting matrix C 1 ,D 11 ,D 12 , C 2 ,D 21 ,D 22 defined as:

[0084] C 2 =C 1 ;D 22 =D 12 ;D 11 =D 21 = 0;

[0085] Here, n represents the number of lines of the system state vector x, and m represents the...

Embodiment 2

[0106]This embodiment simulates the conclusion of embodiment 1 with the data of a certain controlled system, and the specific process is as follows:

[0107] The structure of a microgrid system containing diesel generators is as follows: image 3 As shown, the load frequency is modeled; the system can adopt the state space differential equation of a controlled system with disturbance as Describe, specifically:

[0108] x(t) T =[Δf(t)Δδ(t)ΔP WTG (t)ΔP PV (t)ΔP DEG (t)ΔP FC (t)ΔP BES (t)ΔP g (t)];

[0109] w(t) T =[ΔP Wind (t)ΔP Solar (t)ΔP Load (t)];

[0110]

[0111]

[0112]

[0113]

[0114]

[0115] The simulation parameters are D=0.012; M=0.2; R=2.4; T BES =0.1; T Fc =0.1; T PV =1.8; T WTG = 1.5; T DEG = 2;

[0116] The iterative optimization process curve is as follows Figure 4 Shown, the mixed H obtained according to the optimization of Example 1 2 / H ∞ The optimal control feedback gain matrix K of the robust controller is:

[0117...

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Abstract

The invention discloses an optimal hybrid H2 / H-infinity robust controller design method based on a genetic algorithm, and relates to the technical field of intelligent optimization control. According to the invention, an initialized population is randomly generated by a genetic algorithm, an initial individual is determined, an algorithm population individual is assigned to related elements in a robust control performance output weighting matrix and reflects respective H-infinity performance and H2 performance weights, the minimum square integral of a control error is used as an objective function of the system, and iterative optimization is performed on the population by using a genetic algorithm so as to obtain an optimal individual and further obtain an optimal hybrid H2 / H-infinity robust controller. According to the invention, the optimization process is clear in expression, the optimization result is credible, and the controlled system gives consideration to optimality and robustness in the operation process of using the optimized hybrid H2 / H-infinity robust controller, so that the optimal comprehensive performance of the controller is realized.

Description

technical field [0001] The invention belongs to the technical field of automatic control, in particular to a genetic algorithm-based optimal hybrid H 2 / H ∞ Robust controller design method. Background technique [0002] The fixed controller designed with the robustness of the closed-loop system as the goal is called a robust controller, which has been a hot spot in research and application in the field of control since it was proposed in the 1980s. However, for the traditional norm-based robust controller, before it is put into operation, in order to obtain a more ideal control effect, the coefficient matrix corresponding to the output of the robust performance evaluation signal must be adjusted first. When the system is expressed in the form of a linear transfer function, the design of its robust controller u=Kx requires tuning the performance output coefficient weighting matrix C 1 ,D 11 ,D 12 ;C 2 ,D 21 ,D 22 Impact. [0003] In the field of automatic control, th...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 钱晶邹屹东梅宏曾云于凤荣李立胜刀方
Owner KUNMING UNIV OF SCI & TECH
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