一种基于相轨迹特征的云模型控制器设计

A Cloud Model Controller Design Based on Trajectory Performance of Phase Plane

针对复杂工业过程控制对象具有非线性、大惯性、慢时变等特征,提出一种基于相轨迹特征的云模型控制算法,提高系统控制性能。首先,根据当前时刻系统状态在相平面中的位置确定下一时刻相轨迹的期望运动方向和输出量的比例系数,在初始阶段较大的输出可以提高系统快速性,稳定阶段较小的输出变化可以减小超调量获得更高的收敛精度;然后,选取相轨迹期望运动方向与变化率最大方向的夹角作为云模型控制器输入量,实现控制;最后,将设计的云模型控制器应用到双容水箱液位控制中,实验结果表明,基于相轨迹特征设计的云模型控制器可以对水箱液位进行良好的控制,并且具有参数易于调节,跟踪与抗扰性能好等优点。

Considering the characteristics of nonlinearity,high inertia and slow time-varying of complex industrial process,a cloud model control algorithm based on phase trajectory characteristics is proposed to improve the control performance of the system.Firstly,according to the position of the system state in the phase plane at the current moment,determine the desired motion direction of phase trajectory and the proportional coefficient of the output at the next moment.The larger output in the initial phase can improve the quickness of the system and the smaller output in the steady phase can reduce overshoot for higher convergence accuracy.And then,select the angle between the expected motion direction of phase trajectory and the direction of the maximum rate of change as the input of cloud model controller to realize the control.Finally,the designed cloud model controller is applied to the double-tank level control system,the experimental results have revealed that the cloud model controller based on the feature of phase trajectory provides high performance in the tank liquid level control system,and has the advantages of easy adjustment of parameters and better tracking and anti-interference performance.