一种双重自校正控制器

A Dual Self-Tuning Controller

为了便于结构复杂的非线性系统的自适应控制,对输入输出时变线性模型(TVARMAX)进行变换,得到一种简便的、不依赖系统结构的输入输出增量式非齐次时变线性模型,推出了相应的参数估计投影算法。采用模型的逆作为逆控制器,并与一阶滤波器串联构成双重自校正控制器。逆控制器利用模型参数的估计值进行自校正,对系统起主导调节作用。而滤波器则利用系统的行为特征进行自校正,具有系统性能监控功能。这种双重自校正控制方式可以提高系统对非结构工业环境的适应范围。仿真结果表明了该控制器的有效性。

In order to facilitate the adaptive control of nonlinear systems with complicated structure,the inputoutput timevarying linear model (TVARMAX) is transformed into an inputoutput incremental and nonhomogenerous timevarying linear modelThis new model is simple and does not depend on the system structureA relative parameter estimation projection algorithm is deducedThe inverse model is used as an inverse controller,and in series with a first order filter,which constitutes a dual selftuning controllerThe inverse controller uses the estimatedmodel parameters to perform selftuning,and plays a dominant regulation role in the control systemWhereas the filter implements selftuning by use of the system behavior,and has a supervision function of the system performanceThis dual selftuning controlmethod may improve the system adaptability in an unstructured industrial environmentSimulation results confirm the effectiveness of the dual selftuning controller