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基于BP神经网络PID控制及其仿真 总被引:2,自引:0,他引:2
对BP神经网络算法进行了改进,克服了直接使用神经网络算法进行PID控制的不足之处.仿真表明,设计了附加动量项的BP神经网络,能有效地提高算法的收敛速度.实验结果表明控制效果优于传统的PID控制算法的仿真结果. 相似文献
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针对烧结混合料自动加水控制的难点,尤其是在烧结配料过程中自动加水系统的大滞后、非线性、低稳定性问题进行了加水控制算法研究。采用内环和外环方案分别控制两级混合机加水,设计基于粒子群优化(particle swarm optimization, PSO)算法优化BP(back propagation)神经网络联合模糊PID控制模型以解决时变、非线性系统的局限性问题。通过PSO算法对BP神经网络进行训练优化以获得最优控制参数,将预测的烧结料水分加入模型参与下一步控制。考虑系统存在较大延时,Simulink仿真中同步加入延时环节。仿真结果表明,相比BP神经网络模型,PSO-BP预测模型的拟合性能更加优越;相比PID、BP-PID控制算法,PSO-BP-PID控制算法在超调量、响应时间以及震荡周期等指标上均有显著提高。经梅钢4号烧结机实际应用数据表明,相比传统PID控制,PSO-BP-PID控制平均误差下降约45.75%,控制标准差下降约62.72%,可以明显提高混合料水分控制的精准度、稳定性、敏捷性,提高烧结过程的稳定性。 相似文献
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通过分析高压大流量液压伺服控制系统的构成,描绘出液压APC的控制框图;通过对PI调节器、伺服阀放大板、伺服阀、液压缸、液压缸力平衡等子系统模型的建立,介绍了系统建模的基本步骤和方法,以武钢1 700mm热轧厂精轧压下APC为例,系统地诠释了模型参数计算、取值的具体步骤,对比分析了实际采样曲线和仿真曲线,剖析了利用MATLAB指导系统参数整定的一般规律。 相似文献
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Based on the hydraulic bending control system, the electrohydraulic servo pressure control simulation model is built. Taking into account of the inadequacy of P-type immune feedback controller, an improved fuzzy immune PID controller is put forward. Drawing on immune feedback principle of biological immune system, the P-type immune feedback controller is connected with conventional PID controller in series and then in parallel with design fuzzy immune PID controller. The controller parameters can be adjusted on line by the rules of immune feedback controller and fuzzy controller. In order to gain the optimal parameters of the controller, the parameters of the controller are off-line optimized by the best multiple optimal model PSO algorithm. The simulation results indicate that the method has characteristics of small overshoot, short adjusting time and strong anti-interference ability and robustness. The quality of the strip shape can be further improved. 相似文献
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《Baosteel Technical Research》2019,(3)
During strip casting,the thickness deviation of casting strip directly affects the quality of the hot-rolled sheet because the casting strip needs to be rolled only once. To accurately control the gap between casting rolls and reduce the thickness deviation of the casting strip,a conceptual design of a prestressed twin-roll caster is proposed herein; this caster involves the setting of a constant pressure balancing cylinder between the chocks of two casting rolls. The balancing cylinder hydraulic system adopts a three-way servo valve that controls the hydraulic cylinder.The parameters of the hydraulic power components are determined using the principle of optimal power matching,and the hydraulic system model of the balancing cylinder is thus established. The dynamic analysis and simulation of the hydraulic system are performed using finite element model to obtain relevant evaluation indexes. Finally,the hydraulic system is corrected using proportional-integral-derivative( PID) correction to achieve a well-controlled effect. Thus,the engineering requirements of the strip casting process can be met. 相似文献
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多轴联动下的串联多关节工业机器人在空间轨迹运动时,在时间上保证各关节轴单独具有良好的跟踪性能,而由于机械电气的迟滞效应,并不能完全保证理想的轮廓轨迹,这说明各个伺服轴的运动在几何空间中的同步非常重要。针对运动指令与实际位置之间的迟滞所带来的机器人末端轮廓精度不高的问题,本文结合工业机器人现有的运动学和动力学以及传统的PID控制理论,研究了六关节机器人位置域控制算法。将机器人空间轮廓轨迹的控制,通过采用主?从运动关系实时建立的方法,将时域中的各个伺服关节的同步控制方法,变换到位置域的各个伺服关节的主?从跟随的控制方法,在实现位置域的同步控制的同时,引入基于位置域的PD控制,减少了主?从跟随控制的跟随误差,从而整体提高机器人末端的轮廓运动精度。该方法在Linux CNC(Computerized Numerical Control)数控系统上,以某公司HSR-JR605机器人为对象进行了实验,证明采用位置域控制方法对六关节机器人空间运动轨迹精度的提高有积极作用。 相似文献
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在建立弯辊液压系统的数学模型的基础上,采用伺服阀加压力传感器控制液压缸实现对板形的控制,并通过仿真分析液压缸的控制效果。 相似文献
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Accuratemouldlevelcontrolisveryimportantincontinuouscastingprocess(seeFig.1)anditisbelievedtobeakeyfactorinimprovingfinalproductquality.Althoughmanymethodshavebeendevelopedformouldlevelcontrol[1,2],theyarenotperfectbecauseonlypartofthefactorssuchasdisturbanceofcastingspeedandnonlinearityofthemouldlevelcontrolsystemareconsidered[3—5].Infact,theperformanceofthehydraulicservosystemofslidinggateanddeviationoftundishweightaretwomajorfactorsaffectingmouldlevelcontrol.Allthesetwoloopsshouldbeconside… 相似文献