参数自整定模糊—复合控制的随动系统应用的研究
|
摘要
现代控制理论发展到今天，理论和实践的差距仍很大，原因之一就是对被控对象数学模型的依赖性太强和理论推导的假设条件太严格，不适应实际应用。因此，控制理论的发展把重心转向控制器的智能化，以减少对数学模型的依赖。而在智能控制领域中，模糊控制脱颖而出。
另外，传统的自动控制系统大都采用PID控制技术，它虽然具有结构简单，可靠，稳定的特点，但它常有不能有效克服负载、模型参数的大范围变化及其非线性因素的影响，因此在高性能高精度的场合不能满足要求。
针对上述情况，本课题将模糊控制器直接用于随动系统控制。具体说，本文介绍了基于参数自整定模糊-复合控制器的随动系统研究，描述了模糊控制的基本原理及设计原则。为了提高对随动系统的控制品质和增加智能度，本文又引进了参数自整定和复合控制环节，并经过大量的实验研究后对量化因子Ke、kc和比例因子Ku的调整给出了一定的规则。本课题的研究主要分为两个方面：一是通过仿真来研究基本模糊控制器、参数自整定模糊控制器和参数自整定模糊-复合控制器应用于随动系统的控制品质及鲁棒性问题，二是研究了这三种控制器应用于实际随动系统的效果。
经过大量的实验结果表明参数自整定模糊-复合控制器的各项性能指标优于参数自整定模糊控制器、特别是基本模糊控制器，并具有很强的鲁棒性。
The modern control theory has still had great difference to the practice, and one of its reasons is that it has too strong dependence on the match model of the controlled object and it needs too rigorous supposed-conditions that it is not fit for practical application. Therefore, the development of control theory is changing its core to the intelligent controller. And in the field of intelligence control, fuzzy control is just outstanding.
On the other hand, the auto-control system traditionally applies PID control technique because it is reliable, stable and its structure is simple, but it often can not overcomes efficiently the effects of great change of loads and model parameters and nonlinear factors, thus it can not meet the demands on the occasion of high performance and accuracy.
Therefore, the paper applies directly fuzzy controller to servo system control. In detail, this paper introduces the study of servo system based on fuzzy-complex controller of parameter self-adjusting. The fundamental principles and design rules of fuzzy control are described. In order to enhance performance and intelligent level of servo system, a complex link is added to the fuzzy controller in this paper and some principles on regulating the quantitative factors Ke, Kc and the proportional factor Ku are given by many experiments. This study consists of two sections: The first one is that control qualities and robustness in the application of the simple fuzzy controller, the fuzzy controller of parameter self-adjusting and the fuzzy-complex controller of parameter self-adjusting to the servo system are studied by simulation and the second one is the study of the actual servo system. Many experiment results show that all performance indexes of the fuzzy-complex controller of parameter self-adjusting are in
advance of those of the simple fuzzy controller and the fuzzy controller of parameter self-adjusting. Especially, the fuzzy-complex controller of parameter self-adjusting is robust.
另外，传统的自动控制系统大都采用PID控制技术，它虽然具有结构简单，可靠，稳定的特点，但它常有不能有效克服负载、模型参数的大范围变化及其非线性因素的影响，因此在高性能高精度的场合不能满足要求。
针对上述情况，本课题将模糊控制器直接用于随动系统控制。具体说，本文介绍了基于参数自整定模糊-复合控制器的随动系统研究，描述了模糊控制的基本原理及设计原则。为了提高对随动系统的控制品质和增加智能度，本文又引进了参数自整定和复合控制环节，并经过大量的实验研究后对量化因子Ke、kc和比例因子Ku的调整给出了一定的规则。本课题的研究主要分为两个方面：一是通过仿真来研究基本模糊控制器、参数自整定模糊控制器和参数自整定模糊-复合控制器应用于随动系统的控制品质及鲁棒性问题，二是研究了这三种控制器应用于实际随动系统的效果。
经过大量的实验结果表明参数自整定模糊-复合控制器的各项性能指标优于参数自整定模糊控制器、特别是基本模糊控制器，并具有很强的鲁棒性。
The modern control theory has still had great difference to the practice, and one of its reasons is that it has too strong dependence on the match model of the controlled object and it needs too rigorous supposed-conditions that it is not fit for practical application. Therefore, the development of control theory is changing its core to the intelligent controller. And in the field of intelligence control, fuzzy control is just outstanding.
On the other hand, the auto-control system traditionally applies PID control technique because it is reliable, stable and its structure is simple, but it often can not overcomes efficiently the effects of great change of loads and model parameters and nonlinear factors, thus it can not meet the demands on the occasion of high performance and accuracy.
Therefore, the paper applies directly fuzzy controller to servo system control. In detail, this paper introduces the study of servo system based on fuzzy-complex controller of parameter self-adjusting. The fundamental principles and design rules of fuzzy control are described. In order to enhance performance and intelligent level of servo system, a complex link is added to the fuzzy controller in this paper and some principles on regulating the quantitative factors Ke, Kc and the proportional factor Ku are given by many experiments. This study consists of two sections: The first one is that control qualities and robustness in the application of the simple fuzzy controller, the fuzzy controller of parameter self-adjusting and the fuzzy-complex controller of parameter self-adjusting to the servo system are studied by simulation and the second one is the study of the actual servo system. Many experiment results show that all performance indexes of the fuzzy-complex controller of parameter self-adjusting are in
advance of those of the simple fuzzy controller and the fuzzy controller of parameter self-adjusting. Especially, the fuzzy-complex controller of parameter self-adjusting is robust.
引文
[1] 汪培庄，韩立岩．应用模糊数学，北京经济学院出版社，1989
[2] 窦振忠．模糊逻辑控制技术及应用，北京航空航天大学出版社，1995
[3] 何新贵．模糊知识处理的理论与技术，国防工业出版社，1994
[4] 李景振等．日本模糊控制理论与应用研究的进展·控制理论与应用，VOL．14，4
[5] 李艳等．模糊控制在电气传动中的应用现状及前景，电气传动，VOL．2，1997
[6] R M Tong. A Retrospective View of Fuzzy Control System, Fuzzy Sets and System, 1984, 14(3)
[7] 孙增析．智能控制理论与技术，清华大学出版社，1997
[8] T.J. PROCYK and E.H. MAMDANI. A Linguistic Self-Organizing Process Controller, Automatica, Vol. 15, pp. 15-30,1979
[9] M Sugeno, K Murakami. Fuzzy parking control of model car, In 23 rd IEEE Conf, on Decision and Control, Las Vegas, 1984
[10] KWOK L. TANG AND ROBERT J. MULHOLLAND. Comparing Fuzzy Logic with Classical Controller Designs, IEEE TRANSACTIONS ON SYSTEMS, MAN, AND BERNETICS, VOL, SMC-17, NOVEMBER/DECEMBER, 1987,6
[11] Frank j Bartos. Fuzzy Logic Widens Its Appeal Controls, Controls Engineering, 1993,6
[12] CHUEN CHIEN LEE. Fuzzy Logic in Control Systems:Fuzzy Logic Controller·Part Ⅰ, IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS, VOL. 20, MARCH/APRIL, 1990,2
[13] CHUEN CHIEN LEE. Fuzzy Logic in Control Systems:Fuzzy Logic Controller·Part Ⅱ, IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS, VOL. 20, MARCH/APRIL, 1990,2
[14] Nick Infelise. A Clear Vision of Fuzzy Logic, Control Engineering, 1991,7
[15] G V S Raju, Jan Zhou. Adaptive Hierarchical Fuzzy Controller, IEEE Transactions on System. Man and Cybernetics, 1993,23(4)
[16] M S Stachowicz, M E Kochanska. Fuzzy Modelling of the Process, 2nd IFSA Congress, Tokyo, Japan, july 1987
[17] D.L. Dubois et al. Fuzzy Sets and Systems:Theory and Appolications, Academic Press, New York, 1981
[18] E. Snchez. Resolution of Composite Fuzzy Relation Equations, Inf. Control, 1976,30:38-48
[19] Hamid R Berenji, Pratap Khedkar. Learning and Tuning Fuzzy Logic Controllers Through Reirforcements, IEEE Transaction on Neural Networks, 1992,3(5):724-740
[20] Witold Pedrycz. Fuzzy Control and Fuzzy Systems, Research Studies Pree LTD, 1989
[21] 增乐生，施妙和．随动系统，北京工业学院出版社，1988
[22] 诸静等．模糊控制原理及应用，机械工业出版社，1995
[23] 刘芳．学习控制在交流伺服系统中的应用研究，电气传动，Vol．27，1997，4
[24] 杨龙祥．提高位置伺服系统性能的两种新的控制方案，电气传动，VOL．26，1998，5
[25] 冯宏娟，王守觉．直接修改控制规则的自调整模糊控制器，电子学报，Vol1.20，1992，2
[26] 李宏兴．Fuzzy控制的本质与一类高Fuzzy控制器的设计，控制理论与应用，VOL．14，1997，6
[27] 管萍，梁文林，李绍滋．神经——模糊控制在交流变频调速中的应用，电气自动化，1998，1
[28] 梁慧冰，沈起奋，陈鸿雁．基于模糊模型辨识的参数自调整模糊控制在交流调速中的应用，电气自动化，1994，4
[29] 胡少华，刘少民．Fuzzy控制规则的自动生成及其自校正方法，自动化学报，VOL．17，1991，5
[30] 孙毅勇，冯国楠，孙亮．自适应滑模跟踪控制交流伺服系统，电气传动，Vol．28，1998，3
[31] 毛建旭，黄志宇，王耀南．模糊控制在直流电机调速中的应用，电气传动自动化，Vol．20，3
[32] 何峰．参数自适应Fuzzy调节器在变频调速中的应用，电气传动，1990，6
[33] 吴介一．提高模糊控制器精度的研究·控制理论与应用，VOL．13，1996，2
[34] 李士勇，夏承光．模糊控制和智能控制理论与应用，哈尔滨工业大学出版社，1990
[35] 王琦．实用模糊数学，科学技术文献出版社，1992
[36] 李士勇．模糊控制·神经控制和智能控制论，哈尔滨工业大学出版社，1996
[37] 张增科．模糊数学在自动化技术中的应用，清华大学出版社，1997
[38] 何平，王鸿绪．模糊控制器的设计及应用，科学出版社，1997
[39] 任兴权。控制系统计算机仿真，机械工业出版社，1988
[40] 熊光楞．控制系统数字仿真，清华大学出版社，1987
[41] P.J. KING and E.H. MAMDANI. The Application of Fuzzy Control Systems to Industrial Processes, Automatica, Vol. 13, pp. 235-242,1977
[42] M. BRAAE and D.A. RUTHERFORD. Theoretical and Linguistic Aspects of the Fuzzy Logic Contronller, Automatica, Vol. 15, pp. 553-577,1979
[43] 刘增良．模糊技术与应用选编(2)，北京航空航天大学出版社，1997
[44] 李振格．程序员手册，北京航空航天大学出版社，1992
[45] 韦巍．智能控制技术，机械工业出版社，1999
[46] 蔡自兴．智能控制，电子工业出版社，1990
[47] 龙升照，汪培庄．Fuzzy控制规则的自调整问题模糊数学，1982，3：105-112
[48] 戴忠达，张曾科，汤俭．一种改进的模糊控制器及其应用，自动化学报，VOL．16，1990，3
[49] 韩启纲．模糊控制原理、设计及应用——第9讲模糊控制在工业中的应用，冶金自动化，1996，3
[50] 张金明，李人厚．模糊控制的系统化设计和稳定性分析，自动化学报，Vol．25，1999，4
[51] 佟绍成．一类模糊非线性系统自适应输出反馈控制，自动化学报，Vol．25，1999，4
[52] 韩启纲．模糊控制原理、设计及应用——第7讲高级模糊控制器的设计，冶金自动
化，VOL．1，1996
[53] 阮同军．设计模糊控制器的一种方法，1996年中国智能自动化学术会议论文集(上册)
[2] 窦振忠．模糊逻辑控制技术及应用，北京航空航天大学出版社，1995
[3] 何新贵．模糊知识处理的理论与技术，国防工业出版社，1994
[4] 李景振等．日本模糊控制理论与应用研究的进展·控制理论与应用，VOL．14，4
[5] 李艳等．模糊控制在电气传动中的应用现状及前景，电气传动，VOL．2，1997
[6] R M Tong. A Retrospective View of Fuzzy Control System, Fuzzy Sets and System, 1984, 14(3)
[7] 孙增析．智能控制理论与技术，清华大学出版社，1997
[8] T.J. PROCYK and E.H. MAMDANI. A Linguistic Self-Organizing Process Controller, Automatica, Vol. 15, pp. 15-30,1979
[9] M Sugeno, K Murakami. Fuzzy parking control of model car, In 23 rd IEEE Conf, on Decision and Control, Las Vegas, 1984
[10] KWOK L. TANG AND ROBERT J. MULHOLLAND. Comparing Fuzzy Logic with Classical Controller Designs, IEEE TRANSACTIONS ON SYSTEMS, MAN, AND BERNETICS, VOL, SMC-17, NOVEMBER/DECEMBER, 1987,6
[11] Frank j Bartos. Fuzzy Logic Widens Its Appeal Controls, Controls Engineering, 1993,6
[12] CHUEN CHIEN LEE. Fuzzy Logic in Control Systems:Fuzzy Logic Controller·Part Ⅰ, IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS, VOL. 20, MARCH/APRIL, 1990,2
[13] CHUEN CHIEN LEE. Fuzzy Logic in Control Systems:Fuzzy Logic Controller·Part Ⅱ, IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS, VOL. 20, MARCH/APRIL, 1990,2
[14] Nick Infelise. A Clear Vision of Fuzzy Logic, Control Engineering, 1991,7
[15] G V S Raju, Jan Zhou. Adaptive Hierarchical Fuzzy Controller, IEEE Transactions on System. Man and Cybernetics, 1993,23(4)
[16] M S Stachowicz, M E Kochanska. Fuzzy Modelling of the Process, 2nd IFSA Congress, Tokyo, Japan, july 1987
[17] D.L. Dubois et al. Fuzzy Sets and Systems:Theory and Appolications, Academic Press, New York, 1981
[18] E. Snchez. Resolution of Composite Fuzzy Relation Equations, Inf. Control, 1976,30:38-48
[19] Hamid R Berenji, Pratap Khedkar. Learning and Tuning Fuzzy Logic Controllers Through Reirforcements, IEEE Transaction on Neural Networks, 1992,3(5):724-740
[20] Witold Pedrycz. Fuzzy Control and Fuzzy Systems, Research Studies Pree LTD, 1989
[21] 增乐生，施妙和．随动系统，北京工业学院出版社，1988
[22] 诸静等．模糊控制原理及应用，机械工业出版社，1995
[23] 刘芳．学习控制在交流伺服系统中的应用研究，电气传动，Vol．27，1997，4
[24] 杨龙祥．提高位置伺服系统性能的两种新的控制方案，电气传动，VOL．26，1998，5
[25] 冯宏娟，王守觉．直接修改控制规则的自调整模糊控制器，电子学报，Vol1.20，1992，2
[26] 李宏兴．Fuzzy控制的本质与一类高Fuzzy控制器的设计，控制理论与应用，VOL．14，1997，6
[27] 管萍，梁文林，李绍滋．神经——模糊控制在交流变频调速中的应用，电气自动化，1998，1
[28] 梁慧冰，沈起奋，陈鸿雁．基于模糊模型辨识的参数自调整模糊控制在交流调速中的应用，电气自动化，1994，4
[29] 胡少华，刘少民．Fuzzy控制规则的自动生成及其自校正方法，自动化学报，VOL．17，1991，5
[30] 孙毅勇，冯国楠，孙亮．自适应滑模跟踪控制交流伺服系统，电气传动，Vol．28，1998，3
[31] 毛建旭，黄志宇，王耀南．模糊控制在直流电机调速中的应用，电气传动自动化，Vol．20，3
[32] 何峰．参数自适应Fuzzy调节器在变频调速中的应用，电气传动，1990，6
[33] 吴介一．提高模糊控制器精度的研究·控制理论与应用，VOL．13，1996，2
[34] 李士勇，夏承光．模糊控制和智能控制理论与应用，哈尔滨工业大学出版社，1990
[35] 王琦．实用模糊数学，科学技术文献出版社，1992
[36] 李士勇．模糊控制·神经控制和智能控制论，哈尔滨工业大学出版社，1996
[37] 张增科．模糊数学在自动化技术中的应用，清华大学出版社，1997
[38] 何平，王鸿绪．模糊控制器的设计及应用，科学出版社，1997
[39] 任兴权。控制系统计算机仿真，机械工业出版社，1988
[40] 熊光楞．控制系统数字仿真，清华大学出版社，1987
[41] P.J. KING and E.H. MAMDANI. The Application of Fuzzy Control Systems to Industrial Processes, Automatica, Vol. 13, pp. 235-242,1977
[42] M. BRAAE and D.A. RUTHERFORD. Theoretical and Linguistic Aspects of the Fuzzy Logic Contronller, Automatica, Vol. 15, pp. 553-577,1979
[43] 刘增良．模糊技术与应用选编(2)，北京航空航天大学出版社，1997
[44] 李振格．程序员手册，北京航空航天大学出版社，1992
[45] 韦巍．智能控制技术，机械工业出版社，1999
[46] 蔡自兴．智能控制，电子工业出版社，1990
[47] 龙升照，汪培庄．Fuzzy控制规则的自调整问题模糊数学，1982，3：105-112
[48] 戴忠达，张曾科，汤俭．一种改进的模糊控制器及其应用，自动化学报，VOL．16，1990，3
[49] 韩启纲．模糊控制原理、设计及应用——第9讲模糊控制在工业中的应用，冶金自动化，1996，3
[50] 张金明，李人厚．模糊控制的系统化设计和稳定性分析，自动化学报，Vol．25，1999，4
[51] 佟绍成．一类模糊非线性系统自适应输出反馈控制，自动化学报，Vol．25，1999，4
[52] 韩启纲．模糊控制原理、设计及应用——第7讲高级模糊控制器的设计，冶金自动
化，VOL．1，1996
[53] 阮同军．设计模糊控制器的一种方法，1996年中国智能自动化学术会议论文集(上册)
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |