An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control...An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control. Based on Lyapunov theory, Smith predictor was analyzed in time domain. The parameters of the fuzzy PID controller can be obtained using traditional linear control theory and sliding mode control theory. The simulation experiments were implemented. The simulation results show that the control performance, robustness and stability of the fuzzy PID controller are better than those of the PID controller in Smith predictor.展开更多
In order to diminish the impacts of extemal disturbance such as parking speed fluctuation and model un- certainty existing in steering kinematics, this paper presents a parallel path tracking method for vehicle based ...In order to diminish the impacts of extemal disturbance such as parking speed fluctuation and model un- certainty existing in steering kinematics, this paper presents a parallel path tracking method for vehicle based on pre- view back propagation （BP） neural network PID controller. The forward BP neural network can adjust the parameters of PID controller in real time. The preview time is optimized by considering path curvature, change in curvature and road boundaries. A fuzzy controller considering barriers and different road conditions is built to select the starting po- sition. In addition, a kind of path planning technology satisfying the requirement of obstacle avoidance is introduced. In order to solve the problem of discontinuous curvature, cubic B spline curve is used for curve fitting. The simulation results and real vehicle tests validate the effectiveness of the proposed path planning and tracking methods.展开更多
为快速评价增压器瞬态响应性,以汽油发动机的电磁阀气动式旁通控制的涡轮增压器为例,从发动机标定参数、外围相关零部件及装配、增压器运动机构迟滞三方面分析影响涡轮增压器瞬态响应的主要因素,提出转矩斜率台架快速评价方法。结果表明...为快速评价增压器瞬态响应性,以汽油发动机的电磁阀气动式旁通控制的涡轮增压器为例,从发动机标定参数、外围相关零部件及装配、增压器运动机构迟滞三方面分析影响涡轮增压器瞬态响应的主要因素,提出转矩斜率台架快速评价方法。结果表明:采用比例积分微分(proportional integral differential,PID)预控策略,电磁阀占空比偏置为2.5%~5.0%对增压预控的结果影响较大;增压系统积分时间常数偏差系数大于0,增压压力有欠调趋势;增压系统积分时间常数小于0,增压压力有超调趋势;废气旁通阀关闭裕度比较适宜的区域为-0.05~0.20 mm;转矩斜率方法操作性强,可在发动机台架上快速评价增压器瞬态响应性能。展开更多
The fuzzy NN predictive control algorithm introduced in this paper uses fuzzy neural network to model the nonlinear MIMO process. Its training method that integrates LS and BP algorithm brings quick convergence. GPC a...The fuzzy NN predictive control algorithm introduced in this paper uses fuzzy neural network to model the nonlinear MIMO process. Its training method that integrates LS and BP algorithm brings quick convergence. GPC algorithm is used as the predictive component. The fuzzy neural network has six layers, including input layer, output layer and four hidden layers. An application to a MIMO nonlinear process(green liquor system of the recovery system in a pulp factory shows that this algorithm has better performance than normal PID algrithm.展开更多
This article describes in detail a new method via the extension predictable algorithm of the matter-element model of parallel structure tuning the parameters of the extension PID controller. In comparison with fuzzy a...This article describes in detail a new method via the extension predictable algorithm of the matter-element model of parallel structure tuning the parameters of the extension PID controller. In comparison with fuzzy and extension PID controllers, the proposed extension PID predictable controller shows higher control gains when system states are away from equilibrium, and retains a lower profile of control signals at the same time. Consequently, better control performance is achieved. Through the proposed tuning formula, the weighting factors of an extension-logic predictable controller can be systematically selected according to the control plant. An experimental example through industrial field data and site engineers＇ experience demonstrates the superior performance of the proposed controller over the fuzzy controller.展开更多
基金Project(70473068) supported by the National Natural Science Foundation of ChinaProject(05JZD00024) supported by the Major Subject of Ministry of Education, China
文摘An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control. Based on Lyapunov theory, Smith predictor was analyzed in time domain. The parameters of the fuzzy PID controller can be obtained using traditional linear control theory and sliding mode control theory. The simulation experiments were implemented. The simulation results show that the control performance, robustness and stability of the fuzzy PID controller are better than those of the PID controller in Smith predictor.
基金Supported by the National Natural Science Foundation of China(No.11072106,No.51005133 and No.51375009)
文摘In order to diminish the impacts of extemal disturbance such as parking speed fluctuation and model un- certainty existing in steering kinematics, this paper presents a parallel path tracking method for vehicle based on pre- view back propagation （BP） neural network PID controller. The forward BP neural network can adjust the parameters of PID controller in real time. The preview time is optimized by considering path curvature, change in curvature and road boundaries. A fuzzy controller considering barriers and different road conditions is built to select the starting po- sition. In addition, a kind of path planning technology satisfying the requirement of obstacle avoidance is introduced. In order to solve the problem of discontinuous curvature, cubic B spline curve is used for curve fitting. The simulation results and real vehicle tests validate the effectiveness of the proposed path planning and tracking methods.
文摘为快速评价增压器瞬态响应性,以汽油发动机的电磁阀气动式旁通控制的涡轮增压器为例,从发动机标定参数、外围相关零部件及装配、增压器运动机构迟滞三方面分析影响涡轮增压器瞬态响应的主要因素,提出转矩斜率台架快速评价方法。结果表明:采用比例积分微分(proportional integral differential,PID)预控策略,电磁阀占空比偏置为2.5%~5.0%对增压预控的结果影响较大;增压系统积分时间常数偏差系数大于0,增压压力有欠调趋势;增压系统积分时间常数小于0,增压压力有超调趋势;废气旁通阀关闭裕度比较适宜的区域为-0.05~0.20 mm;转矩斜率方法操作性强,可在发动机台架上快速评价增压器瞬态响应性能。
文摘The fuzzy NN predictive control algorithm introduced in this paper uses fuzzy neural network to model the nonlinear MIMO process. Its training method that integrates LS and BP algorithm brings quick convergence. GPC algorithm is used as the predictive component. The fuzzy neural network has six layers, including input layer, output layer and four hidden layers. An application to a MIMO nonlinear process(green liquor system of the recovery system in a pulp factory shows that this algorithm has better performance than normal PID algrithm.
基金This work is supported by Youth Foundation of University of Science and Techonology of China(No.KA0001).
文摘This article describes in detail a new method via the extension predictable algorithm of the matter-element model of parallel structure tuning the parameters of the extension PID controller. In comparison with fuzzy and extension PID controllers, the proposed extension PID predictable controller shows higher control gains when system states are away from equilibrium, and retains a lower profile of control signals at the same time. Consequently, better control performance is achieved. Through the proposed tuning formula, the weighting factors of an extension-logic predictable controller can be systematically selected according to the control plant. An experimental example through industrial field data and site engineers＇ experience demonstrates the superior performance of the proposed controller over the fuzzy controller.
