基于CMAC和PID的非线性耦合系统解耦控制研究

为了实现多变量非线性耦合系统的解耦控制,提出了一种基于CMAC与PID的复杂关联自适应解耦控制策略,并给出了详细算法。该控制策略采用PID控制器和CMAC控制器共同构成一个复合控制器,多个复合控制器通过多输入多输出线性神经网络,实施对复杂非线性耦合对象的控制作用。由于神经网络的自适应特性,可使得耦合系统逼近参考模型,实现解耦控制。仿真结果表明,该控制策略实现了耦合系统的解耦控制,并且具有较强的抗干扰能力和鲁棒性。因此采用此控制策略能够实现多变量非线性耦合系统的解耦控制。

Decoupling control for nonlinear coupling systems based on CMAC and PID

In order to actualize decoupling control for nonlinear multivariate coupling system, a multivariate self-adapting decoupling control method based on CMAC and PID was proposed in this paper, and its algorithm was designed in detail. The control strategy utilizes PID controller and CMAC to combine a composite controller. Outputs of multiple same composite controllers are mapped by MIMO linear neural networks into final control actions. Becauseofcharacteristicsofneuralnetworks, multivariate control system can approach reference model, and the decoupling control aim was achieved. The simulation results show that the strategy realized effectively decoupling control for multivariate coupling system, and is good at anti-disturbance ability and strong in robustness. So the control strategy can realize the decoupling control of the multivariate nonlinear coupling system.