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基于模糊自适应PID控制的吊车防摆定位系统 总被引:1,自引:0,他引:1
针对桥式吊车水平运动系统是一个非线性、变参数、强耦合的对象,采用模糊自适应PID控制器进行定位和防摆控制。仿真实验结果表明,系统具有良好的动态、静态特性和较强的鲁棒性。 相似文献
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欠驱动桥式吊车系统自适应控制 总被引:1,自引:0,他引:1
针对桥式吊车这类非线性欠驱动系统, 提出了一种基于耗散理论的自适应控制器. 它能够有效地抑制运输过程中负载的摆动, 并将其快速准确地运送到指定的位置. 相比其他吊车控制系统, 这种控制器无需准确测量台车和负载质量以及吊绳长度, 可以根据系统响应情况来对这些参数进行在线估计, 这将极大地方便控制器在实际吊车系统中的推广应用. 对于闭环系统的稳定性, 文中通过李雅普诺夫理论及拉塞尔不变性原理进行了证明, 仿真结果也证实了这种自适应控制器能够对吊车系统进行良好的控制. 相似文献
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针对实际桥式吊车系统物理参数不易获得的问题,提出一种基于能量守恒的参数辨识方法。该方法根据能量守恒原理建立辨识回归方程,然后用非负最小二乘法处理辨识实验数据,得到桥式吊车的控制器设计模型。以桥式吊车实验系统为背景,模拟桥式吊车的实际运行特点,进行辨识实验,获得系统的数学模型。在此基础上用LQR 控制器验证了该方法在桥式吊车实验系统上辨识结果的准确性,证明该辨识方法对桥式吊车的控制有很大帮助。 相似文献
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针对吊车系统定位和防摆的控制要求,提出了一种基于嵌套饱和方法的非线性控制策略。对吊车系统动力学方程进行部分反馈线性化,并通过坐标变换将其转化为便于控制器设计的严格前馈级联规范型;在此基础上利用嵌套饱和非线性控制方法设计了吊车定位防摆控制器。仿真结果表明,该方法在较小的控制力作用下实现了吊车系统的定位和防摆,并且对于吊车系统参数的变化具有很强的鲁棒性。 相似文献
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Taur J.S. Tao C.W. 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》1997,27(3):526-532
In this paper, a methodology to reduce the complexity of a robust controller based on fuzzy if-then rules is proposed. The motivation and the design of this complexity-reduced fuzzy controller are presented. This fuzzy controller with the triangular membership functions and fuzzy partition methods used here leads to a region-wise linear fuzzy controller (RLFC). The properties of the region-wise linear fuzzy controllers are discussed and the reasons why they in general perform better than the PD controllers are also provided. And the simulation results based on a second order plant are included to show that the region-wise linear fuzzy controller outperforms the PD controller. We also show that the region-wise linear fuzzy controller and original fuzzy controller have similar performances. 相似文献
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区间二型模糊集合将次隶属度做了简化,基于KM降阶算法的区间二型模糊控制器实现起来相对简单.虽然区间二型模糊控制器在一定程度上优于传统的一型模糊控制器或者PI控制器等,但区间二型模糊控制器并没有充分利用二型模糊集合的次隶属度信息.为解决这些问题,研究了普通二型模糊控制器的一般结构,提出了一种等价于PI的二型模糊控制器.该... 相似文献
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将T-S型模糊控制器与PID控制器相结合,提出了TS-PID模糊控制器模型。推导出了输入采用正规模糊集、三角形全交迭隶属度函数的典型TS-PID模糊控制器的插值解析表达式,揭示了TS-PID模糊控制器本质上是一种非线性PID控制器,为实际应用提供了一种快速精确的控制算法。基于该插值表达式,进一步探讨了利用遗传算法对TS-PID模糊控制器进行优化设计的方法。 相似文献
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Robust fuzzy control for a plant with fuzzy linear model 总被引:5,自引:0,他引:5
A robust complexity reduced proportional-integral-derivative (PID)-like fuzzy controllers is designed for a plant with fuzzy linear model. The plant model is described with the expert's linguistic information involved. The linguistic information for the plant model is represented as fuzzy sets. In order to design a robust fuzzy controller for a plant model with fuzzy sets, an approach is developed to implement the best crisp approximation of fuzzy sets into intervals. Then, Kharitonov's Theorem is applied to construct a robust fuzzy controller for the fuzzy uncertain plant with interval model. With the linear combination of input variables as a new input variable, the complexity of the fuzzy mechanism of PID-like fuzzy controller is significantly reduced. The parameters in the robust fuzzy controller are determined to satisfy the stability conditions. The robustness of the designed fuzzy controller is discussed. Also, with the provided definition of relative robustness, the robustness of the complexity reduced fuzzy controller is compared to the classical PID controller for a second-order plant with fuzzy linear model. The simulation results are included to show the effectiveness of the designed PID-like robust fuzzy controller with the complexity reduced fuzzy mechanism. 相似文献
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With the development of technology and the practical needs of complex engineering applications, fuzzy controllers have been widely applied. In contrast to a traditional integer-order fuzzy controller, a fractional fuzzy controller can extend the integral and differential order of a fuzzy controller to any real number, which describes the controlled object more accurately and enhances its control performance. However, a fractional fuzzy controller has a larger number of control parameters, which makes it difficult to calibrate. Because the parameter controller tuning values of the fuzzy controller clearly influence its control performance, this paper proposes to optimize the parameter controller tuning process using the symbiotic organisms search algorithm. A large number of simulation tests were carried out to compare the symbiotic organisms search-based parameter controller tuning method with parameter controller tuning based on five other representative swarm intelligence algorithms. The experimental results show that the symbiotic organisms search algorithm better optimizes the parameters of the fractional fuzzy controller. 相似文献
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Wei Li 《Fuzzy Systems, IEEE Transactions on》1998,6(4):449-463
Presents approaches to the design of a hybrid fuzzy logic proportional plus conventional integral-derivative (fuzzy P+ID) controller in an incremental form. This controller is constructed by using an incremental fuzzy logic controller in place of the proportional term in a conventional PID controller, By using the bounded-input/bounded-output “small gain theorem”, the sufficient condition for stability of this controller is derived. Based on the condition, we modify the Ziegler and Nichols' approach to design the fuzzy P+ID controller. In this case, the stability of a system remains unchanged after the PID controller is replaced by the fuzzy P+ID controller without modifying the original controller parameters. When a plant can be described by any modeling method, the fuzzy P+ID controller can be determined by an optimization technique. Finally, this controller is used to control a nonlinear system. Numerical simulation results demonstrate the effectiveness of the fuzzy P+ID controller in comparison with the conventional PID controller, especially when the controlled object operates under uncertainty or in the presence of a disturbance 相似文献
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针对磁悬浮系统开环不稳定、强烈非线性等特性,结合PID控制和模糊控制的优点,提出一种改进的模糊自适应PID控制方法(IFPID).将微分环节从模糊控制器中剥离出来,只对比例和积分参数进行模糊整定.设计时采用非线性模糊化,利用S-函数建立磁悬浮系统的非线性模型并进行仿真.仿真结果表明,IFPID控制系统的抗干扰和适应参数变化的能力都优于常规PID控制,具有较好的动态特性和稳定性. 相似文献