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针对单神经元PID控制学习速度慢、调节时间长的问题,通过对单神经元自适应PID控制器(SNC)的分析,利用免疫机制,实现了神经元控制器比例系数K的免疫功能选取,从而提出了一种具有免疫功能的单神经元自适应PID控制器(ISNC),构成了自适应型免疫单神经元PID控制器。通过对火电厂锅炉过热蒸汽温度控制的仿真研究,证明了该方法的可行性和有效性。 相似文献
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针对单神经元控制算法在电磁导航智能车速度控制中存在加权系数修正时间长、自适应能力差、系统不稳定的缺点,提出了将改进的单神经元自适应PID控制算法应用到智能车的调速系统中。改进的单神经元自适应PID控制算法优化了单神经元自适应PID控制算法中的加权系数学习修正部分,使得权系数在线修正不完全根据神经网络的学习原理,而是参考实际经验制定的,最终自适应地整定PID三个参数来实现智能车的速度控制。Matlab仿真测试表明,与单神经元自适应PID控制算法相比,改进的单神经元自适应PID控制算法在智能车速度控制中具有响应快,超调量小、自适应能力强的优点,大大提高了智能车控制系统的性能。 相似文献
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单神经元自适应PID控制器及其应用 总被引:52,自引:6,他引:46
研究了单神经元自适应PID控制器,阐述了该控制器的特点、控制律、适用对象及工程整定方法,在和利时公司的SmartPro系统平台上开发出单神经元自适应PID控制器,进行了单神经元自适应PID控制器的典型一、二阶对象闭环仿真,最终将单神经元自适应PID控制器应用于制药厂发酵罐温度控制回路中。单神经元控制器具有可调参数少、易于整定、控制输出平稳、鲁棒性强的独特优点,适用于大滞后且要求平稳控制输出的工业过程。 相似文献
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针对传统增量式PID控制算法在四旋翼飞行器的姿态控制中自整定参数不足的缺点,提出了一种改进的自适应单神经元PID控制算法,该算法在单神经元加权系数调整的基础上引入PSD自适应控制方法,增加了对比例系数的自适应调整;通过建立四旋翼飞行器的动力学模型和飞行试验平台对该改进算法进行仿真验证;仿真结果表明,采用自适应单神经元PID算法的控制器结构简单且响应速度快,精度高,具有更高的鲁棒性和自适应能力,能有效的实现四旋翼飞行器姿态的稳定控制。 相似文献
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单神经元自适应PID控制器设计方法研究 总被引:8,自引:3,他引:8
本文主要介绍了采用有监督Hebb学习算法的单神经元自适应PID控制器以及采用以输出误差平方为性能指标的单神经元自适应PID控制器的控制算法及其仿真实现,总结出了两种基于单神经元的自适应PID控制器的控制特点及其参数设计规律. 相似文献
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单神经元自适应PID控制器设计方法研究 总被引:1,自引:0,他引:1
本文主要介绍了采用有监督Hebb学习算法的单神经元自适应PID控制器以及采用以输出误差平方为性能指标的单神经元自适应PID控制器的控制算法及其仿真实现,总结出了两种基于单神经元的自适应PID控制器的控制特点及其参数设计规律。 相似文献
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《Control Engineering Practice》2005,13(9):1081-1092
In this paper, an adaptive control scheme is proposed to reduce force ripple effects impeding motion accuracy in Permanent Magnet Linear Motors (PMLMs). The displacement periodicity of the force ripple is first obtained by using a Fast Fourier Transform (FFT) analysis. The control method is based on recursive least squares (RLS) identification of a nonlinear PMLM model which includes a model of the force ripple. Based on this model, the control algorithm can be commissioned which consists of a PID feedback control component, an adaptive feedforward component for compensation of the force ripple and another adaptive feedforward component based on the inverse dominant linear model which will serve to expedite motion tracking response. Simulation and experimental results are presented to verify the effectiveness of the proposed control scheme for high precision motion tracking applications. 相似文献
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Nowadays, high-precision motion controls are needed in modern manufacturing industry. A data-driven nonparametric model adaptive control (NMAC) method is proposed in this paper to control the position of a linear servo system. The controller design requires no information about the structure of linear servo system, and it is based on the estimation and forecasting of the pseudo-partial derivatives (PPD) which are estimated according to the voltage input and position output of the linear motor. The characteristics and operational mechanism of the permanent magnet synchronous linear motor (PMSLM) are introduced, and the proposed nonparametric model control strategy has been compared with the classic proportional-integral-derivative (PID) control algorithm. Several real-time experiments on the motion control system incorporating a permanent magnet synchronous linear motor showed that the nonparametric model adaptive control method improved the system’s response to disturbances and its position-tracking precision, even for a nonlinear system with incompletely known dynamic characteristics. 相似文献
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In this paper,a composite control scheme for macro-micro dual-drive positioning stage with high acceleration and high precision is proposed.The objective of control is to improve the precision by reducing the influence of system vibration and external noise.The positioning stage is composed of voice coil motor(VCM) as macro driver and piezoelectric actuator(PEA) as micro driver.The precision of the macro drive positioning stage is improved by the combined PID control with adaptive Kalman filter(AKF).AKF is used to compensate VCM vibration(as the virtual noise) and the external noise.The control scheme of the micro drive positioning stage is presented as the integrated one with PID and intelligent adaptive inverse control approach to compensate the positioning error caused by macro drive positioning stage.A dynamic recurrent neural networks(DRNN) based inverse control approach is proposed to offset the hysteresis nonlinearity of PEA.Simulations show the positioning precision of macro-micro dual-drive stage is clearly improved via the proposed control scheme. 相似文献
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A 3PRR parallel precision positioning system, driven by three ultrasonic linear motors, was designed for use as the object stage of a scanning electron microscope (SEM). To improve the tracking accuracy of the parallel platform, the positioning control algorithms for the drive joints needed to be studied. The dead-zone phenomenon caused by static friction reduces the trajectory tracking accuracy significantly. Linear control algorithms such as PID (Proportion Integration Differentiation) are unable to compensate effectively for the dead-zone nonlinearity. To address this problem, two types of feedforward compensation control algorithms have been investigated. One is constant feedforward with the integral separation PID; the other is adaptive feedback and feedforward based on the model reference adaptive control (MRAC). Simulations and experiments were conducted using these two control algorithms. The results demonstrated that the constant feedforward with integral separation PID algorithm can compensate for the time-invariant system after identifying the dead-zone depth, while the adaptive feedback and feedforward algorithm is more suitable for the time-varying system. The experimental results show good agreement with the simulation results for these two control algorithms. For the dead-zone nonlinearity caused by the static friction, the adaptive feedback and feedforward algorithm can effectively improve the trajectory tracking accuracy. 相似文献
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This paper describes a robust adaptive control method for positioning piezoelectric actuators (ultrasonic motor) to achieve highly precise motion. The model employed to describe the motor is a second‐order linear model plus a nonlinear part comprising predominantly of a dynamical hysteresis. Based on the model, the overall control algorithm uses a PID component and an adaptive robust component for estimating the parameters of the piezo motor model. The adaptive component is continuously refined based on just prevailing input and output signals. Real‐time experimental results are provided to verify the effectiveness of the proposed scheme when applied to high precision motion trajectory tracking such as Intracytoplasmic Sperm Injection (ICSI). 相似文献
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柔性支撑Stewart平台自适应交互PID隔振控制 总被引:1,自引:0,他引:1
为了实现500 m口径球面射电望远镜(five hundred meter aperture spherical radio telescope, FAST)二级精调稳定平台对馈源舱隔振控制的定位和指向精度, 首先提出了基于并联机构学原理的3维机动目标跟踪预测算法, 对柔性支撑Stewart平台的基座运动进行跟踪预测. 进而,在Stewart平台关节空间设计了自适应交互PID控制器, 引入自适应交互算法解决PID参数的实时调整, 以适应柔性支撑Stewart平台的参数变化对不同控制参数的需求. 采用现代机电系统仿真策略, 对柔性支撑Stewart平台隔振系统的动力学与控制问题进行了仿真, 结果表明: 与传统的PID控制器相比, 自适应交互PID控制器大大改善了隔振效果, 完全满足隔振目标的要求. 相似文献
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高精度跟踪随动系统分为跟踪运动系统和随动运动系统,其特点是跟踪系统工作模式多样,定位精度高,动态响应频率高,随动系统延时误差小.系统采用新型PCC控制器和直流伺服驱动器,配合直流大型力矩电机实现无级调速驱动,利用双通道高精度旋转变压器完成高精度的定位.跟踪系统和干扰系统之间利用高效的通讯方式尽量缩短通讯延时避免由于通讯... 相似文献
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针对LED 晶圆贴片过程, 设计一种利用阀门的开关和开度控制气缸内气压的压力控制系统, 提出一种多目标分阶段决策和控制的方法, 实现活塞运动和加压控制. 根据活塞的位移和压力, 采用逻辑决策方法, 选择需要控制的阀门. 根据规划压力与实测压力的差值及其差值变化率, 利用模糊自适应PID 控制方法控制阀门的开度. 采用半张量积的方法将逻辑决策和模糊控制中的推理转变成矩阵形式, 以简化运算量, 提高运算速度和控制精确度.
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