HERO型移动机器人控制器的研制和开发

本文介绍了以高档PC、PLC和无线通信作为控制器核心的HERO型移动机器人控制器的 研究开发技术．给出了移动机器人控制器硬件系统结构和控制器软件体系结构,分析介绍了 控制软件系统中的各功能模块的作用与特点,着重介绍了软件中采用的关键技术．已投入使 用的机器人的良好性能证明了其控制器技术方案的合理性．     

基于ARM的嵌入式火灾报警控制器的研究

介绍了基于高性能的32位ARM的嵌入式火灾报警控制器，对国内、国外火灾报警控制器的特点作了阐述，从侧面论述了本文介绍的控制器的一些特点。对嵌入式火灾报警控制器的软、硬件做了概述，经实际检验满足消防技术规范。     

一个以μVAX－Ⅱ为主机的双机电力调度自动化计算机系统

本文介绍了一个以双μ－ＶＡＸ－Ⅱ为主机，包括通信控制器（ＣＣＵ）、智能图形控制器（ＧＣ）、模拟屏控制器、彩色汉字打印机、六笔绘图仪、天文钟控制器、双机切换控制器等设备的准省级电力调度自动化计算机系统。介绍了系统的功能、配置及特点、总体设计、软件设计等，并对运行状况进行了简单介绍。该系统经过剪裁也可用于其它工业领域。     

基于AMBA APB总线的Nand Flash控制器的设计

介绍了基于AMBA APB总线Nand Flash控制器的设计,首先简单介绍了Nand Flash的一些特点,然后详细介绍了Nand Flash控制器的整体框架、具体功能及其内部的数据通路。该控制器通过ModelSim进行了仿真及FPGA板级验证,结果证明能够满足Nand Flash时序要求。     

锅炉汽水子系统专家控制系统

简要介绍了EXPERT控制器和FUZZY控制器联合完成锅炉汽水子系统全部相关功能的方法 ,并介绍了锅炉汽水子系统协调控制在DCS中的实现。     

煤矿液压支架控制器测试平台的研究设计

文章在简单介绍了矿用支架控制器的控制原理及电特性的基础上,研究设计了电液控制器测试平台。运用该平台可以测试支架控制器的性能,从而缩短控制器的开发周期。     

基于MATLAB的平流泵压力控制器的设计

介绍了平流泵压力控制器一基于MATLAB的模糊控制器的设计。     

数字解耦控制器设计及其在DDC上的实现

介绍了一种通过设计数字解耦控制器来实现解耦的方法。该方法的优势在于它是通过软件的方式来实现解耦,无须增加任何硬件,在大大地节约了成本的同时也提高控制系统的稳定性能。数字解耦控制器在实际系统中的应用表明该方法取得了良好的控制效果。论文在介绍了目前常用四种解耦方法的基础上对数字解耦控制器的设计思想进行了论述,进而详细地介绍了数字解耦控制器的设计步骤,给出了数字解耦控制器的算法流程图。     

基于单片机的斜条机控制器的设计与实现

文章介绍了一种以MCSS1单片机为主控制器，由CH451驱动数码管、键盘，由步进电机带动同步带运动。由光电限位开关限位的微电脑斜条机控制器的设计与实现。该控制器具有显示直观、准确，控制精度高，抗干扰能力强，操作方便性价比及安全性高等优点，代表了斜条机控制器的发展趋势。文中同时介绍了该控制器所加入的抗干扰设计。     

风光互补路灯控制方案的研究

主要分析了太阳能光伏电池和风力发电模块的原理及特点,并对风光互补路灯控制器进行了硬件介绍和软件设计。本系统选取了PIC系列单片机作为整套系统的控制器,重点介绍了光伏充电和风能充电子程序的流程设计。该控制器能够在不同的风速条件下稳定地实时发电运行,提高充电性能也提高了控制器的控制效率。     

Design and analysis of direct-action CMAC PID controller

This paper is to propose a direct-action (DA) cerebellar model articulation controller (CMAC) proportional-integral-derivative (PID) controller. The proposed controller, termed the DAC-PID controller, can generate four simple types of the nonlinear functions and then determine a control effort from those functions to control the process. In addition, the real-coded genetic algorithm is used to tune the parameters of the DAC-PID controller such that we can optimize those parameters. The performance of the proposed controller is also discussed in the sense of quantitative analysis. Simulation results demonstrate that the DAC-PID controller is superior to the conventional PID controller tuned by Ziegler–Nichols method and, moreover, as better as the optimal PID controller and the optimal fuzzy-PID controller.     

Optimal fuzzy controller parameters using PSO for speed control of Quasi-Z Source DC/DC converter fed drive

The conventional controller suffers from uncertain parameters and non-linear qualities of Quasi-Z Source converter. However they are computationally inefficient extending to optimize the fuzzy controller parameters, since they exhaustively search the optimal values to optimize the objective functions. To overcome this drawback, a PSO based fuzzy controller parameter optimization is presented in this paper. The PSO algorithm is used to find the optimal fuzzy parameters for minimizing the objective functions. The feasibility of the proposed PSO technique has been simulated and tested. The results are bench marked with conventional fuzzy controller and genetic algorithm for two types of DC/DC converters namely double input Z-Source converter and Quasi-Z Source converter. The results of both the DC/DC converters for several existing methods illustrate the effectiveness and robustness of the proposed algorithm.     

机器人LFT变增益∞控制

针对平面两关节直接驱动机器人, 基于LMI技术提出一种设计能保证在整个运动范围内始终具有很好动态性能的LFT变增益H_∞ 控制器的新方法. 将机器人系统转化为以两关节夹角余弦值为变参数的LPV模型并表示为关于变参数的LFT结构, 利用变参数的测量值设计具有相同LFT结构的LPVH_∞ 控制器, 将此控制器的设计等价为以变参数为不确定项的LTI鲁棒控制器的设计并给出控制器可解的LMIs条件, 然后归纳出获得控制器的求解方法. 此控制器既克服了传统变增益控制器的缺陷,     

Stability Analysis of Parallel Fuzzy P ＋ Fuzzy I ＋ Fuzzy D Control Systems

The study presented in this paper is in continuation with the paper published by the authors on parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative (FP + FI + FD) controller. It addresses the stability analysis of parallel FP + FI + FD controller. The famous"small gain theorem" is used to study the bounded-input and bounded-output (BIBO) stability of the fuzzy controller. Sufficient BIBO-stability conditions are developed for parallel FP + FI + FD controller. FP + FI + FD controller is derived from the conventional parallel proportional plus integral plus derivative (PID) controller. The parallel FP + FI + FD controller is actually a nonlinear controller with variable gains. It shows much better set-point tracking, disturbance rejection and noise suppression for nonlinear processes as compared to conventional PID controller.     

Application of a hybrid controller to a mobile robot

This paper presents the application of a hybrid controller to the optimization of the movement of a mobile robot. Through hybrid controller processes, the optimal angle and velocity of a robot moving in a work space was determined. More effective movement resulted from these hybrid controller processes. The experimental scenarios involved a five-versus-five soccer game and a MATLAB simulation, where the proposed system dynamically assigned the robot to the target position. The hybrid controller was able to choose a better position according to the circumstances encountered. The hybrid controller that is proposed includes a support vector machine and a fuzzy logic controller. We used the method of generalized predictive control to predict the target position, and the support vector machine to determine the optimal angle and velocity required for the mobile robot to reach the goal. First, we used the generalized predictive control to predict the target position. Then, the support vector machine is used to classify the angle that must be followed by the mobile robot to reach the goal. Next, a fuzzy logic controller is designed to determine the velocity of the left and right wheels of the mobile robot. Thus generated, the velocity was optimized according to the measures obtained by the support vector machine. Finally, based on the optimal velocity of robot, the output membership function was modified. Consequently, the proposed hybrid controller allowed the robot to reach the goal quickly and effectively.     

An Intelligent Design for a PID Controller for Nonlinear Systems

The proportional integral derivative (PID) controller is the most frequently used controller design for industrial applications because of its favorable response and simplicity of adjustment. However, PID manual tuning is traditionally based on engineering experience, and adjusting nonlinear or unknown systems is extremely difficult. In promoting an intelligent controller design theory that can be applied to the control of various systems, this paper proposes a nonlinear control design method that involves determining the optimal solution and obtaining the transfer function of an unknown system by using sequential quadratic programming. In addition, this paper presents a case study of an induction motor V/F speed control to demonstrate the effectiveness of the proposed method based on MATLAB simulation. The results prove that the design of the proposed intelligent PID controller is more robust than traditional controller designs.     

基于布谷鸟搜索算法优化的BLDCM角度控制

当前,经典比例积分微分(PID)控制在无刷直流电机(BLDCM)控制领域仍然占据十分重要的地位。为了解决传统PID控制器参数优化费时、最佳控制性能难以保证的问题,提出使用布谷鸟搜索(CS)算法优化PID控制器(CS-PID)构成电机的角度位置控制。其次,选用时间乘绝对误差积分(ITAE)函数作为CS算法的适应性函数,为PID控制器参数优化的合理性提供参考。最后,以粒子群算法优化PID(PSO-PID)控制器为基准,利用MATLAB仿真软件在恒定阶跃函数下分别对CS-PID控制器和PSO-PID控制器进行了实验测试。仿真试验结果表明:CS-PID控制器具有较好的控制性能指标;相对于PSO-PID控制器,CS-PID控制器优化算法具有优越性和有效性。     

Simulation study for automatic generation control of a multi-area power system by ANFIS approach

This paper deals with the application of artificial neural network (ANN) based ANFIS approach to automatic generation control (AGC) of a three unequal area hydrothermal system. The proposed ANFIS controller combines the advantages of fuzzy controller as well as quick response and adaptability nature of ANN. Appropriate generation rate constraints (GRC) have been considered for the thermal and hydro plants. The hydro area is considered with an electric governor and thermal area is considered with reheat turbine. The design objective is to improve the frequency and tie-line power deviations of the interconnected system. 1% step load perturbation has been considered occurring either in any individual area or occurring simultaneously in all the areas. It is a maiden application of ANFIS approach to a three unequal area hydrothermal system with GRC considering perturbation in a single area as well as in all areas. The performance of the ANFIS controller is compared with the results of integral squared error (ISE) criterion based integral controller published previously. Simulation results are presented to show the improved performance of ANFIS controller in comparison with the conventional integral controller. The results indicate that the controllers exhibit better performance. In fact, ANFIS approach satisfies the load frequency control requirements with a reasonable dynamic response.     

基于粒子群优化算法的永磁同步电机H2/H∞混合控制

为了提高永磁同步电机(PMSM)控制系统的控制性能,设计了一种混合H2/H∞控制器。通过混合灵敏度方法设计系统的H∞次优控制器,采用粒子群优化(PSO)算法选取H2性能指标最小的控制器,从而得到混合H2/H∞控制器。采用仿真对所设计控制器的性能与比例积分(PI)控制器进行了对比测试,测试结果证明了混合H2/H∞控制器具有比PI控制器更好的控制效果,同时也表明采用PSO算法进行控制器设计是有效、可行的。     

Design of an electron beam stabilisation controller for a synchrotron

Synchrotrons are used to generate light for academic and industry research by accelerating electrons travelling in a circular path to relativistic speeds. In order to achieve optimum performance, electron beam stability is a crucial parameter for synchrotrons. This paper describes the design of a beam stabilisation controller, using Internal Model Control. Basis functions are used to identify the controllable components of the system and it is demonstrated how by selecting dynamics for each spatial mode, enhanced performance is achieved. The robust stability of the controller in the presence of spatial uncertainties is developed within an Integral Quadratic Constraint framework using two methods of spatial decomposition: Singular Value decomposition and Fourier decomposition. The controller has been implemented at Diamond Light Source, the UK׳s national synchrotron science facility. Results from the controller implementation are presented and it is demonstrated how the controller design and robust stability analysis are used to tradeoff performance and robustness.