CN105182756A - Novel inner module compensation control system based on model reference adaptive control - Google Patents

Novel inner module compensation control system based on model reference adaptive control Download PDF

Info

Publication number
CN105182756A
CN105182756A CN201510690469.7A CN201510690469A CN105182756A CN 105182756 A CN105182756 A CN 105182756A CN 201510690469 A CN201510690469 A CN 201510690469A CN 105182756 A CN105182756 A CN 105182756A
Authority
CN
China
Prior art keywords
model
output
control system
controlled device
reference model
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510690469.7A
Other languages
Chinese (zh)
Inventor
周武能
周琳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Donghua University
National Dong Hwa University
Original Assignee
Donghua University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Donghua University filed Critical Donghua University
Priority to CN201510690469.7A priority Critical patent/CN105182756A/en
Publication of CN105182756A publication Critical patent/CN105182756A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39406—Obtain optimal parameters of model of system

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention relates to a novel inner module compensation control system based on model reference adaptive control. The novel inner module compensation control system based on the model reference adaptive control comprises a controlled object, wherein a reference model is connected with the two ends of the controlled object in parallel; difference between output of the reference model and output of the controlled object can be used for adjusting adjustable gain of an adjustable controller by virtue of an adaptive mechanism; and the adjustable gain of the adjustable controller is used for changing output of the reference model, so that difference between the output of the reference model and the output of the controlled object tends to zero. The novel inner module compensation control system based on the model reference adaptive control has the advantages of simple structure, good dynamic property, strong antijamming capability, good robustness and the like.

Description

A kind of novel Internal Model Compensation control system based on model reference adaptive
Technical field
The present invention relates to automatic control technology field, particularly relate to a kind of novel Internal Model Compensation control system based on model reference adaptive.
Background technology
In modern industry is produced, the process with time lag characteristic is ubiquitous, and the control of Object with Time Delay is comparatively difficult, especially in the industrial process complicated and changeable such as gold metallurgy, space flight, manufacture, is all a difficult problem to the process of large time-delay process all the time.And in this type of industrial circle, all kinds of tank level control system ubiquity, often there is large dead time, nonlinear feature in actual Liquid level process, for meeting the control overflow of complication system, people devise control program and the intelligent controller of many advanced persons.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of novel Internal Model Compensation control system based on model reference adaptive, has the advantages such as model structure is simple, dynamic property good, antijamming capability is strong, robustness is good.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of novel Internal Model Compensation control system based on model reference adaptive, comprise controlled device, described controlled device two ends are parallel with reference model; The difference of the output of described reference model and the output of controlled device adjusts the adjustable gain of adjustable controller by adaptive mechanism; The adjustable gain of described adjustable controller, for changing the output of reference model, makes the difference of the output of reference model and the output of controlled device go to zero.
The open loop generalized error equation of described Internal Model Compensation control system is: p (D) e (t)=(K m-K ck p) q (D) r (t), wherein, p (D) represents generalized error, the K that pattern function molecule passes the differential form of letter, e (t) represents the output of described reference model and the output of controlled device mrepresent reference model gain, K crepresent adjustable gain, K pthe gain of expression controlled device, q (D) represents the differential form of pattern function denominator biography letter, r (t) represents that system inputs.
Described reference model equation is: p (D) y m(t)=K mq (D) r (t), wherein, p (D) represents that pattern function molecule passes differential form, the y of letter mthe output of (t) described reference model, K mrepresent reference model gain, q (D) represents the differential form of pattern function denominator biography letter, r (t) represents that system inputs.
The adjustment law of described adaptive mechanism is: K c=∫ Ae (t) y (m), wherein, Kc represents adjustable gain, and the generalized error that A represents adjustable parameter, e (t) represents the output of described reference model and the output of controlled device, y (m) represent the output of described reference model.
Described adaptive mechanism integrator and multiplier are formed.
Beneficial effect
Owing to have employed above-mentioned technical scheme, the present invention compared with prior art, has following advantage and good effect: the present invention has the advantages such as model structure is simple, dynamic property good, antijamming capability is strong, robustness is good.Emulate by theoretical research and in the Simulink tool box of Matlab, find that the present invention is better to the control effects containing time lag characteristic controlled device.Shown by Simulink emulation, the present invention can realize the on-line tuning of parameter, accelerates the response speed of system, shortens regulating time, decreases overshoot, has again good Control platform and robustness simultaneously, has higher researching value.
Accompanying drawing explanation
Fig. 1 is Model Reference Adaptive Control System block scheme;
Fig. 2 is model reference adaptive local structural graph;
Fig. 3 is model reference adaptive internal model control system figure;
Fig. 4 is MIT reference adaptive Internal Model Compensation control system figure.
Embodiment
Below in conjunction with specific embodiment, set forth the present invention further.Should be understood that these embodiments are only not used in for illustration of the present invention to limit the scope of the invention.In addition should be understood that those skilled in the art can make various changes or modifications the present invention, and these equivalent form of values fall within the application's appended claims limited range equally after the content of having read the present invention's instruction.
Embodiments of the present invention relate to a kind of novel Internal Model Compensation control system based on model reference adaptive, and as shown in Figure 1, comprise controlled device, described controlled device two ends are parallel with reference model; The difference of the output of described reference model and the output of controlled device adjusts the adjustable gain of adjustable controller by adaptive mechanism; The adjustable gain of described adjustable controller, for changing the output of reference model, makes the difference of the output of reference model and the output of controlled device go to zero.As can be seen here, model reference adaptive is the difference that the controlled model of a kind of on-line tuning reference model and reality exports, and constantly follows the tracks of the method for backup system.
The reference adaptive system that present embodiment adopts is by changing system adjustable gain, and then realizes system and model output bias goes to zero, and its structured flowchart as shown in Figure 2.
Massachusetts Institute Technology takes local optimum method to design first adaptive law the earliest, referred to as MIT self-adaptation.Its Model Reference Adaptive Control System as shown in Figure 3.Within the system, reference model gain K mfor constant, actual controlled device gain K pmay along with changing under extraneous circumstance changes.
For reducing by controlled device gain K pchange the unfavorable factor brought, increase adjustable gain K in systems in which ccompensate controlled device gain K pchange, therefore suitable adaptive mechanism need be chosen to adjust adjustable gain K c, make reference model gain K m=K ck p.
The difference of actual controlled device and reference model is considered as adjustable gain K cdifference process, its output descriptor error is e=y p-y m, wherein, y pfor controlled device exports, y mfor reference model exports.For making it be reduced to the soonest within ideal range, use local optimum legal system to determine performance index, choosing performance index functional is:
J = ∫ t 0 t e 2 ( τ ) d τ - - - ( 1 )
Wherein, τ represents the differential of time.
Will by regulating adjustable gain K cmake performance index minimum, therefore adopt gradient method optimizing.First J is obtained to adjustable gain K cgradient.
∂ J ∂ K c = ∫ t e t e ∂ e ∂ K c d τ - - - ( 2 )
From gradient method, adjustable gain K cshould along the direction of Gradient Descent, therefore adjustable gain K cvalue is:
Δ K c = - r ∂ J ∂ K c = - 2 r ′ ∫ t e t e ∂ e ∂ K c d τ - - - ( 3 )
Wherein, r represents scale parameter.
Again by formula (3) to time parameter differentiate, then have:
K · c = - r e ∂ e ∂ K c - - - ( 4 )
The open loop function of existing system is:
G o ( s ) = ( K m - K c K p ) q ( s ) p ( s ) - - - ( 5 )
The differential equation that above formula meets is:
p(D)e(t)＝(K m-K cK p)q(D)r(t)(6)
Can obtain formula (6) both sides differentiate:
p ( D ) ∂ e ∂ K c = - K p q ( D ) r - - - ( 7 )
And the output of reference model meets:
p(D)y m(t)＝K mq(D)r(t)(8)
Can be obtained by formula (7) and formula (8) two formula:
∂ e ∂ K c = - K p K m y m - - - ( 9 )
Formula (9) is substituted into formula (4) can obtain:
K c = ∫ r e ( t ) K p K m y m ( t ) = ∫ A e ( t ) y ( m ) - - - ( 10 )
K in above formula cadjustable gain, wherein A is adjustable parameter, as scale parameter r, reference model gain K p, control target gain K mtime fixing, A is only a constant, and adjustable gain K ct change according to generalized error e (t) is produced the effect of adjusting by (), make generalized error e (t) be decreased to zero gradually along negative gradient direction.Can find out, this kind of adaptive mechanism can be made up of integrator and multiplier.
MIT reference adaptive Internal Model Compensation controls to be control MIT in conjunction with basic internal model control principle, and utilize with reference to exporting with the actual generalized error e exported as Optimal Parameters, construct adaptive law by multiplier and integrator, concrete system architecture as shown in Figure 4.
In general, the MIT Controlling model in conjunction with basic internal model control can be described by following equation:
Open loop generalized error equation is: p (D) e (t)=(K m-K ck p) q (D) r (t) (11)
Wherein, p (D) represents the generalized error that pattern function molecule passes the differential form of letter, e (t) represents the output of described reference model and the output of controlled device, and q (D) represents that pattern function denominator passes the differential form of letter, r (t) represents that system inputs.
Reference model equation is: p (D) y m(t)=K mq (D) r (t) (12)
Wherein, P (D) represents that pattern function molecule passes differential form, the y of letter mt () represents the output of described reference model, q (D) represents the differential form of pattern function denominator biography letter, r (t) represents that system inputs.
The adjustment law of described adaptive mechanism is: K c=∫ Ae (t) y (m) (13)
Wherein, K crepresent adjustable gain, the generalized error that A represents adjustable parameter, e (t) represents the output of described reference model and the output of controlled device, y (m) represent the output of described reference model.
In the past the derivation of surface self-adaption rule, in the process of seeking adaptive law, does not consider the problem of system stability.Therefore, for this system, for guaranteeing that generalized error e (t) can converge to some fixed values gradually in Automatic adjusument process, also constantly stability verification must be carried out.

Claims (5)

1. based on a novel Internal Model Compensation control system for model reference adaptive, comprise controlled device, it is characterized in that, described controlled device two ends are parallel with reference model; The difference of the output of described reference model and the output of controlled device adjusts the adjustable gain of adjustable controller by adaptive mechanism; The adjustable gain of described adjustable controller, for changing the output of reference model, makes the difference of the output of reference model and the output of controlled device go to zero.
2. the novel Internal Model Compensation control system based on model reference adaptive according to claim 1, is characterized in that, the open loop generalized error equation of described Internal Model Compensation control system is: p (D) e (t)=(K m-K ck p) q (D) r (t), wherein, p (D) represents generalized error, the K that pattern function molecule passes the differential form of letter, e (t) represents the output of described reference model and the output of controlled device mrepresent reference model gain, K crepresent adjustable gain, K pthe gain of expression controlled device, q (D) represents the differential form of pattern function denominator biography letter, r (t) represents that system inputs.
3. the novel Internal Model Compensation control system based on model reference adaptive according to claim 1, it is characterized in that, it is characterized in that, described reference model equation is: p (D) y m(t)=K mq (D) r (t), wherein, P (D) represents that pattern function molecule passes differential form, the y of letter mt () represents output, the K of described reference model mrepresent reference model gain, q (D) represents the differential form of pattern function denominator biography letter, r (t) represents that system inputs.
4. the novel Internal Model Compensation control system based on model reference adaptive according to claim 1, it is characterized in that, the adjustment law of described adaptive mechanism is: K c=∫ Ae (t) y (m), wherein, K crepresent adjustable gain, the generalized error that A represents adjustable parameter, e (t) represents the output of described reference model and the output of controlled device, y (m) represent the output of described reference model.
5. the novel Internal Model Compensation control system based on model reference adaptive according to claim 4, it is characterized in that, described adaptive mechanism is made up of integrator and multiplier.
CN201510690469.7A 2015-10-22 2015-10-22 Novel inner module compensation control system based on model reference adaptive control Pending CN105182756A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510690469.7A CN105182756A (en) 2015-10-22 2015-10-22 Novel inner module compensation control system based on model reference adaptive control

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510690469.7A CN105182756A (en) 2015-10-22 2015-10-22 Novel inner module compensation control system based on model reference adaptive control

Publications (1)

Publication Number Publication Date
CN105182756A true CN105182756A (en) 2015-12-23

Family

ID=54904905

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510690469.7A Pending CN105182756A (en) 2015-10-22 2015-10-22 Novel inner module compensation control system based on model reference adaptive control

Country Status (1)

Country Link
CN (1) CN105182756A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105487385A (en) * 2016-02-01 2016-04-13 金陵科技学院 Internal model control method based on model free adaptive control
CN105867169A (en) * 2016-04-20 2016-08-17 华北电力大学（保定） Method for dynamic system modeling based on state observer
CN112925207A (en) * 2021-02-03 2021-06-08 中国计量大学 Greenhouse environment temperature self-adaption method based on parameter identification
CN114114914A (en) * 2021-11-23 2022-03-01 上海三菱电梯有限公司 Performance monitoring method of controlled object applied to model reference adaptive control system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4663703A (en) * 1985-10-02 1987-05-05 Westinghouse Electric Corp. Predictive model reference adaptive controller
CN102426420A (en) * 2011-11-27 2012-04-25 中国科学院光电技术研究所 Motion carrier photoelectric stable platform control system with strong robustness
CN103149843A (en) * 2013-03-13 2013-06-12 河南科技大学 Ultrasonic motor model reference self-adaptation control system based on MIT (Massachu-setts Institute of Technology)
CN103595050A (en) * 2013-11-22 2014-02-19 河海大学常州校区 Method for controlling active power filter through model reference self-adaption fuzzy control
CN104009477A (en) * 2014-06-09 2014-08-27 河海大学常州校区 Robust model reference adaptive current control method of active power filter system
CN104734595A (en) * 2015-03-04 2015-06-24 东华大学 Identification method for rotary inertia of permanent magnet synchronous motor based on model reference self-adaption

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4663703A (en) * 1985-10-02 1987-05-05 Westinghouse Electric Corp. Predictive model reference adaptive controller
CN102426420A (en) * 2011-11-27 2012-04-25 中国科学院光电技术研究所 Motion carrier photoelectric stable platform control system with strong robustness
CN103149843A (en) * 2013-03-13 2013-06-12 河南科技大学 Ultrasonic motor model reference self-adaptation control system based on MIT (Massachu-setts Institute of Technology)
CN103595050A (en) * 2013-11-22 2014-02-19 河海大学常州校区 Method for controlling active power filter through model reference self-adaption fuzzy control
CN104009477A (en) * 2014-06-09 2014-08-27 河海大学常州校区 Robust model reference adaptive current control method of active power filter system
CN104734595A (en) * 2015-03-04 2015-06-24 东华大学 Identification method for rotary inertia of permanent magnet synchronous motor based on model reference self-adaption

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
薛俊: "时滞系统的内模控制及其在PLC中的实现及应用", 《中国优秀硕士学位论文全文数据库 信息科技辑》 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105487385A (en) * 2016-02-01 2016-04-13 金陵科技学院 Internal model control method based on model free adaptive control
CN105487385B (en) * 2016-02-01 2019-02-15 金陵科技学院 Based on model-free adaption internal model control method
CN105867169A (en) * 2016-04-20 2016-08-17 华北电力大学（保定） Method for dynamic system modeling based on state observer
CN105867169B (en) * 2016-04-20 2019-03-08 华北电力大学（保定） A kind of Modelling of Dynamic System method based on state observer
CN112925207A (en) * 2021-02-03 2021-06-08 中国计量大学 Greenhouse environment temperature self-adaption method based on parameter identification
CN114114914A (en) * 2021-11-23 2022-03-01 上海三菱电梯有限公司 Performance monitoring method of controlled object applied to model reference adaptive control system

Similar Documents

Publication Publication Date Title
CN105182756A (en) Novel inner module compensation control system based on model reference adaptive control
CN108508743B (en) Novel quasi-PI predictive control method of time-lag system
CN104238361A (en) Adaptive robust position control method and system for motor servo system
CN103197542A (en) Time delay system PID controller stabilization method based on data drive
CN108489015B (en) Air conditioning system temperature control method based on pole allocation and Pade approximation
CN110531612A (en) A kind of parameter tuning method of Fractional Order PID Controller
CN107147283A (en) A kind of Buck converter compensating control methods based on disturbance observer and Second Order Sliding Mode
CN108099908B (en) A kind of vehicle adaptive cruise optimal control calculation method
CN101997471B (en) PID prediction function-based excitation control method
CN104678765A (en) Piezoelectric ceramic actuator hysteretic model and control method thereof
CN105388764A (en) Electro-hydraulic servo PID control method and system based on dynamic matrix feed-forward prediction
CN104898550A (en) Dynamic servo system composite control method based on sliding mode extended state observer (SMESO)
CN104734588A (en) Biomass gas internal combustion generator set rotation speed control method
CN101004591A (en) Decoupling control method of non - square matrix system in industrial process
CN109298636A (en) A kind of improved integral sliding mode control method
CN103713520A (en) Gyroscope stabilized platform adaptive composite control method
CN109507870A (en) The fractional order proportional integration or proportional plus derivative controller design method of structure adaptive
CN102566418B (en) Method for controlling adaptive sliding mode of inverted pendulum without physical parameter
CN105843078A (en) Sliding mode control method and apparatus
CN109687703A (en) Step-down type dc converter set time sliding-mode control based on interference Estimation of Upper-Bound
CN117111656A (en) PID temperature control method and system based on evaporator
CN103558761A (en) Control method of nonlinear chemical reaction circulation indeterminate time delay system with controller input saturation
CN108333947A (en) Dull integral coefficient Predictive function control parameter tuning method based on intelligent optimizing
CN108762085A (en) A kind of quick point-to-point motion control method of robust
CN106773685A (en) A kind of angle PI controller tuning methods for wind power yawing system

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20151223