A simple delay-predictive continuous-time generalized predictive controller with filter (F-SDCGPC) is proposed. By using modified predictive output signal and cost function, the delay compensator is incorporated in th...A simple delay-predictive continuous-time generalized predictive controller with filter (F-SDCGPC) is proposed. By using modified predictive output signal and cost function, the delay compensator is incorporated in the control law with observer structure, and a filter is added for enhancing robustness. The design of filter does not affect the nominal set-point response, and it is more flexible than the design of observer polynomial. The analysis and simulation results show that the F-SDCGPC has better robustness than the observer structure without filter when large time-delay error is considered.展开更多
Permanent magnet synchronous motors(PMSMs)have been widely employed in the industry. Finite-control-set model predictive control(FCS-MPC), as an advanced control scheme, has been developed and applied to improve the p...Permanent magnet synchronous motors(PMSMs)have been widely employed in the industry. Finite-control-set model predictive control(FCS-MPC), as an advanced control scheme, has been developed and applied to improve the performance and efficiency of the holistic PMSM drive systems. Based on the three elements of model predictive control, this paper provides an overview of the superiority of the FCS-MPC control scheme and its shortcomings in current applications. The problems of parameter mismatch, computational burden, and unfixed switching frequency are summarized. Moreover, other performance improvement schemes, such as the multi-vector application strategy, delay compensation scheme, and weight factor adjustment, are reviewed. Finally, future trends in this field is discussed, and several promising research topics are highlighted.展开更多
为解决压缩式制冷系统运行时存在的时滞、耦合及外部干扰等问题,提出一种基于扰动观测器(DOB)的改进Smith预估解耦控制方案.首先,在常规Smith预估控制结构中引入DOB对系统总体扰动进行观测;然后,利用一阶Pade近似将系统模型中的时滞环...为解决压缩式制冷系统运行时存在的时滞、耦合及外部干扰等问题,提出一种基于扰动观测器(DOB)的改进Smith预估解耦控制方案.首先,在常规Smith预估控制结构中引入DOB对系统总体扰动进行观测;然后,利用一阶Pade近似将系统模型中的时滞环节做线性化处理,进而通过串联对角矩阵的方式实现系统解耦;最后,根据ITAE(Integral of Time-weighted Absolute Error)最小评价准则完成控制器参数整定,并分析了系统鲁棒稳定性.仿真结果表明:该方法较好地实现压缩式制冷系统解耦的同时,使系统获得了更强的鲁棒性及抗扰性,并且约有0.6%的节能效果.展开更多
We propose a novel kind of termination criteria, reduced precision solution (RPS) criteria, for solving optimal control problems (OCPs) in nonlinear model predictive control (NMPC), which should be solved quickly for ...We propose a novel kind of termination criteria, reduced precision solution (RPS) criteria, for solving optimal control problems (OCPs) in nonlinear model predictive control (NMPC), which should be solved quickly for new inputs to be applied in time. Computational delay, which may destroy the closed-loop stability, usually arises while non-convex and nonlinear OCPs are solved with differential equations as the constraints. Traditional termination criteria of optimization algorithms usually involve slow convergence in the solution procedure and waste computing resources. Considering the practical demand of solution precision, RPS criteria are developed to obtain good approximate solutions with less computational cost. These include some indices to judge the degree of convergence during the optimization procedure and can stop iterating in a timely way when there is no apparent improvement of the solution. To guarantee the feasibility of iterate for the solution procedure to be terminated early, the feasibility- perturbed sequential quadratic programming (FP-SQP) algorithm is used. Simulations on the reference tracking performance of a continuously stirred tank reactor (CSTR) show that the RPS criteria efficiently reduce computation time and the adverse effect of computational delay on closed-loop stability.展开更多
To improve the robustness of visual tracking in complex environments such as: cluttered backgrounds, partial occlusions, similar distraction and pose variations, a novel tracking method based on adaptive fusion and pa...To improve the robustness of visual tracking in complex environments such as: cluttered backgrounds, partial occlusions, similar distraction and pose variations, a novel tracking method based on adaptive fusion and particle filter is proposed in this paper. In this method, the image color and shape cues are adaptively fused to represent the target observation; fuzzy logic is applied to dynamically adjust each cue weight according to its associated reliability in the past frame; particle filter is adopted to deal with non-linear and non-Gaussian problems in visual tracking. The method is demonstrated to be robust to illumination changes, pose variations, partial occlusions, cluttered backgrounds and camera motion for a test image sequence.展开更多
基金Supported by the National Natural Science Foundation of China (No.60774080)the Common Project Plan of Beijing Municipal Education Commission (No.100100435)
文摘A simple delay-predictive continuous-time generalized predictive controller with filter (F-SDCGPC) is proposed. By using modified predictive output signal and cost function, the delay compensator is incorporated in the control law with observer structure, and a filter is added for enhancing robustness. The design of filter does not affect the nominal set-point response, and it is more flexible than the design of observer polynomial. The analysis and simulation results show that the F-SDCGPC has better robustness than the observer structure without filter when large time-delay error is considered.
基金supported in part by the National Natural Science Foundation of China(51875261)the Postgraduate Research and Practice Innovation Program of Jiangsu Province(KYCX21_3331)+1 种基金the Faculty of Agricultural Equipment of Jiangsu University(NZXB20210103)。
文摘Permanent magnet synchronous motors(PMSMs)have been widely employed in the industry. Finite-control-set model predictive control(FCS-MPC), as an advanced control scheme, has been developed and applied to improve the performance and efficiency of the holistic PMSM drive systems. Based on the three elements of model predictive control, this paper provides an overview of the superiority of the FCS-MPC control scheme and its shortcomings in current applications. The problems of parameter mismatch, computational burden, and unfixed switching frequency are summarized. Moreover, other performance improvement schemes, such as the multi-vector application strategy, delay compensation scheme, and weight factor adjustment, are reviewed. Finally, future trends in this field is discussed, and several promising research topics are highlighted.
文摘为解决压缩式制冷系统运行时存在的时滞、耦合及外部干扰等问题,提出一种基于扰动观测器(DOB)的改进Smith预估解耦控制方案.首先,在常规Smith预估控制结构中引入DOB对系统总体扰动进行观测;然后,利用一阶Pade近似将系统模型中的时滞环节做线性化处理,进而通过串联对角矩阵的方式实现系统解耦;最后,根据ITAE(Integral of Time-weighted Absolute Error)最小评价准则完成控制器参数整定,并分析了系统鲁棒稳定性.仿真结果表明:该方法较好地实现压缩式制冷系统解耦的同时,使系统获得了更强的鲁棒性及抗扰性,并且约有0.6%的节能效果.
基金supported by the National Natural Science Foundation of China (Nos. 60934007 and 60974007)the National Basic Research Program (973) of China (No. 2009CB320603)
文摘We propose a novel kind of termination criteria, reduced precision solution (RPS) criteria, for solving optimal control problems (OCPs) in nonlinear model predictive control (NMPC), which should be solved quickly for new inputs to be applied in time. Computational delay, which may destroy the closed-loop stability, usually arises while non-convex and nonlinear OCPs are solved with differential equations as the constraints. Traditional termination criteria of optimization algorithms usually involve slow convergence in the solution procedure and waste computing resources. Considering the practical demand of solution precision, RPS criteria are developed to obtain good approximate solutions with less computational cost. These include some indices to judge the degree of convergence during the optimization procedure and can stop iterating in a timely way when there is no apparent improvement of the solution. To guarantee the feasibility of iterate for the solution procedure to be terminated early, the feasibility- perturbed sequential quadratic programming (FP-SQP) algorithm is used. Simulations on the reference tracking performance of a continuously stirred tank reactor (CSTR) show that the RPS criteria efficiently reduce computation time and the adverse effect of computational delay on closed-loop stability.
基金This work was jointly supported by the National Natural Science Foundation of China (No. 60375008)China PH.D Discipline Special Foundation (No. 20020248029)China Aviation Science Foundation (No. 02D57003)Aerospace Supporting Technology Foundation (No.2003-1.3 02), EXPO Technologies Special Project of National Key Technologies R&D Programme (No. 004BA908B07)Shanghai Key Technologies Preresearch Project (No. 035115009).
文摘To improve the robustness of visual tracking in complex environments such as: cluttered backgrounds, partial occlusions, similar distraction and pose variations, a novel tracking method based on adaptive fusion and particle filter is proposed in this paper. In this method, the image color and shape cues are adaptively fused to represent the target observation; fuzzy logic is applied to dynamically adjust each cue weight according to its associated reliability in the past frame; particle filter is adopted to deal with non-linear and non-Gaussian problems in visual tracking. The method is demonstrated to be robust to illumination changes, pose variations, partial occlusions, cluttered backgrounds and camera motion for a test image sequence.
