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Synthesis of Fractional-order PI Controllers and Fractional-order Filters for Industrial Electrical Drives 被引量:1
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作者 Paolo Lino Guido Maione +2 位作者 Silvio Stasi Fabrizio Padula Antonio Visioli 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2017年第1期58-69,共12页
This paper introduces an electrical drives control architecture combining a fractional-order controller and a setpoint pre-filter. The former is based on a fractional-order proportional-integral(PI) unit, with a non-i... This paper introduces an electrical drives control architecture combining a fractional-order controller and a setpoint pre-filter. The former is based on a fractional-order proportional-integral(PI) unit, with a non-integer order integral action, while the latter can be of integer or non-integer type. To satisfy robustness and dynamic performance specifications, the feedback controller is designed by a loop-shaping technique in the frequency domain. In particular, optimality of the feedback system is pursued to achieve input-output tracking. The setpoint pre-filter is designed by a dynamic inversion technique minimizing the difference between the ideal synthesized command signal(i.e., a smooth monotonic response) and the prefilter step response. Experimental tests validate the methodology and compare the performance of the proposed architecture with well-established control schemes that employ the classical PIbased symmetrical optimum method with a smoothing pre-filter. 展开更多
关键词 Dynamic inversion electrical drives fractionalorder pi controller LOOP-SHApiNG set-point pre-filter
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Intelligent Fractional-Order Controller for SMES Systems in Renewable Energy-Based Microgrid
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作者 Aadel M.Alatwi Abualkasim Bakeer +3 位作者 Sherif A.Zaid Ibrahem E.Atawi Hani Albalawi Ahmed M.Kassem 《Computer Modeling in Engineering & Sciences》 SCIE EI 2024年第8期1807-1830,共24页
An autonomous microgrid that runs on renewable energy sources is presented in this article.It has a supercon-ducting magnetic energy storage(SMES)device,wind energy-producing devices,and an energy storage battery.Howe... An autonomous microgrid that runs on renewable energy sources is presented in this article.It has a supercon-ducting magnetic energy storage(SMES)device,wind energy-producing devices,and an energy storage battery.However,because such microgrids are nonlinear and the energy they create varies with time,controlling and managing the energy inside them is a difficult issue.Fractional-order proportional integral(FOPI)controller is recommended for the current research to enhance a standalone microgrid’s energy management and performance.The suggested dedicated control for the SMES comprises two loops:the outer loop,which uses the FOPI to regulate the DC-link voltage,and the inner loop,responsible for regulating the SMES current,is constructed using the intelligent FOPI(iFOPI).The FOPI+iFOPI parameters are best developed using the dandelion optimizer(DO)approach to achieve the optimum performance.The suggested FOPI+iFOPI controller’s performance is contrasted with a conventional PI controller for variations in wind speed and microgrid load.The optimal FOPI+iFOPI controller manages the voltage and frequency of the load.The behavior of the microgrid as a reaction to step changes in load and wind speed was measured using the proposed controller.MATLAB simulations were used to evaluate the recommended system’s performance.The results of the simulations showed that throughout all interruptions,the recommended microgrid provided the load with AC power with a constant amplitude and frequency.In addition,the required load demand was accurately reduced.Furthermore,the microgrid functioned incredibly well despite SMES and varying wind speeds.Results obtained under identical conditions were compared with and without the best FOPI+iFOPI controller.When utilizing the optimal FOPI+iFOPI controller with SMES,it was found that the microgrid performed better than the microgrid without SMES. 展开更多
关键词 fractional-order proportional integral(FOpi) intelligent controller renewable energy resources superconducting magnetic energy storage OPTIMIZATION
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BIFURCATION CONTROL FOR A FRACTIONAL-ORDER DELAYED SEIR RUMOR SPREADING MODEL WITH INCOMMENSURATE ORDERS
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作者 叶茂林 蒋海军 《Acta Mathematica Scientia》 SCIE CSCD 2023年第6期2662-2682,共21页
A fractional-order delayed SEIR rumor spreading model with a nonlinear incidence function is established in this paper,and a novel strategy to control the bifurcation of this model is proposed.First,Hopf bifurcation i... A fractional-order delayed SEIR rumor spreading model with a nonlinear incidence function is established in this paper,and a novel strategy to control the bifurcation of this model is proposed.First,Hopf bifurcation is investigated by considering time delay as bifurcation parameter for the system without a feedback controller.Then,a state feedback controller is designed to control the occurrence of bifurcation in advance or to delay it by changing the parameters of the controller.Finally,in order to verify the theoretical results,some numerical simulations are given. 展开更多
关键词 rumor spreading fractional-order time delay bifurcation control
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Quasi-synchronization of fractional-order complex networks with random coupling via quantized control
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作者 张红伟 程然 丁大为 《Chinese Physics B》 SCIE EI CAS CSCD 2023年第11期355-363,共9页
We investigate the quasi-synchronization of fractional-order complex networks(FCNs) with random coupling via quantized control. Firstly, based on the logarithmic quantizer theory and the Lyapunov stability theory, a n... We investigate the quasi-synchronization of fractional-order complex networks(FCNs) with random coupling via quantized control. Firstly, based on the logarithmic quantizer theory and the Lyapunov stability theory, a new quantized feedback controller, which can make all nodes of complex networks quasi-synchronization and eliminate the disturbance of random coupling in the system state, is designed under non-delay conditions. Secondly, we extend the theoretical results under non-delay conditions to time-varying delay conditions and design another form of quantization feedback controller to ensure that the network achieves quasi-synchronization. Furthermore, the error bound of quasi-synchronization is obtained.Finally, we verify the accuracy of our results using two numerical simulation examples. 展开更多
关键词 complex network fractional-order random coupling time-varying delay QUASI-SYNCHRONIZATION quantized control
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Robust Stability Analysis of Smith Predictor Based Interval Fractional-Order Control Systems:A Case Study in Level Control Process
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作者 Majid Ghorbani Mahsan Tavakoli-Kakhki +1 位作者 Aleksei Tepljakov Eduard Petlenkov 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2023年第3期762-780,共19页
The robust stability study of the classic Smith predictor-based control system for uncertain fractional-order plants with interval time delays and interval coefficients is the emphasis of this work.Interval uncertaint... The robust stability study of the classic Smith predictor-based control system for uncertain fractional-order plants with interval time delays and interval coefficients is the emphasis of this work.Interval uncertainties are a type of parametric uncertainties that cannot be avoided when modeling real-world plants.Also,in the considered Smith predictor control structure it is supposed that the controller is a fractional-order proportional integral derivative(FOPID)controller.To the best of the authors'knowledge,no method has been developed until now to analyze the robust stability of a Smith predictor based fractional-order control system in the presence of the simultaneous uncertainties in gain,time-constants,and time delay.The three primary contributions of this study are as follows:ⅰ)a set of necessary and sufficient conditions is constructed using a graphical method to examine the robust stability of a Smith predictor-based fractionalorder control system—the proposed method explicitly determines whether or not the FOPID controller can robustly stabilize the Smith predictor-based fractional-order control system;ⅱ)an auxiliary function as a robust stability testing function is presented to reduce the computational complexity of the robust stability analysis;andⅲ)two auxiliary functions are proposed to achieve the control requirements on the disturbance rejection and the noise reduction.Finally,four numerical examples and an experimental verification are presented in this study to demonstrate the efficacy and significance of the suggested technique. 展开更多
关键词 Interval uncertainty FOpiD controller fractional-order systems robust stability analysis smith predictor
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High-speed train cooperativecontrol based on fractional-ordersliding mode adaptive algorithm
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作者 Junting Lin Mingjun Ni Huadian Liang 《Railway Sciences》 2023年第1期84-100,共17页
Purpose–This study aims to propose an adaptive fractional-order sliding mode controller to solve the problem of train speed tracking control and position interval control under disturbance environment in moving block... Purpose–This study aims to propose an adaptive fractional-order sliding mode controller to solve the problem of train speed tracking control and position interval control under disturbance environment in moving block system,so as to improve the tracking efficiency and collision avoidance performance.Design/methodology/approach–The mathematical model of information interaction between trains is established based on algebraic graph theory,so that the train can obtain the state information of adjacent trains,and then realize the distributed cooperative control of each train.In the controller design,the sliding mode control and fractional calculus are combined to avoid the discontinuous switching phenomenon,so as to suppress the chattering of sliding mode control,and a parameter adaptive law is constructed to approximate the time-varying operating resistance coefficient.Findings–The simulation results show that compared with proportional integral derivative(PID)control and ordinary sliding mode control,the control accuracy of the proposed algorithm in terms of speed is,respectively,improved by 25%and 75%.The error frequency and fluctuation range of the proposed algorithm are reduced in the position error control,the error value tends to 0,and the operation trend tends to be consistent.Therefore,the control method can improve the control accuracy of the system and prove that it has strong immunity.Originality/value–The algorithm can reduce the influence of external interference in the actual operating environment,realize efficient and stable tracking of trains,and ensure the safety of train control. 展开更多
关键词 High-speed trains Sliding mode control fractional-order differentiation Adaptive law Cooperative control
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Effects of fractional-order PI controller on delay margin in single-area delayed load frequency control systems 被引量:1
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作者 Vedat CELIK Mahmut Temel OZDEMIR Kwang Y.LEE 《Journal of Modern Power Systems and Clean Energy》 SCIE EI CSCD 2019年第2期380-389,共10页
This study aims to determine the improvement effect on the delay margin if fractional-order proportional integral(PI) controller is used in the control of a singlearea delayed load frequency control(LFC) system. The d... This study aims to determine the improvement effect on the delay margin if fractional-order proportional integral(PI) controller is used in the control of a singlearea delayed load frequency control(LFC) system. The delay margin of the system with fractional-order PI control has been obtained for various fractional integral orders and the effect of them has been shown on the delay margin as a third controller parameter. Furthermore,the stability of the system that is either under or over the delay margin is examined by generalized modified Mikhailov criterion.The stability results obtained have been confirmed numerically in time domain. It is demonstrated that the proposed controller for delayed LFC system provides more flexibility on delay margin according to integer-order PI controller. 展开更多
关键词 Delay dependent stability Delay margin fractional-order proportional integral(pi) Generalized modified Mikhailov criterion Load frequency control with delay
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Analysis of the effect on control systems of order variation for fractional-orderPI~λD~μcontrollers 被引量:1
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作者 曾庆山 曹广益 朱新坚 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2005年第3期336-341,共6页
This paper is concerned with fractional-order PI~λD~μcontrollers. The definitions and properties of fractional calculus are introduced. The mathematical descriptions of a fractional-order controller and fractional-o... This paper is concerned with fractional-order PI~λD~μcontrollers. The definitions and properties of fractional calculus are introduced. The mathematical descriptions of a fractional-order controller and fractional-order control systems are outlined. The effects on control systems of order variation for fractional-order PI~λD~μ controllers are investigated by qualitative analysis and simulation. The conclusions and simulation examples are given. The results show the fractional-order PI~λD~μ controller is not sensitive to variation of its order. 展开更多
关键词 fractional calculus fractional-order control systems fractional-order pi~λD~μ controller characteristic polynomial
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Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsingular terminal slidingmode control 被引量:3
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作者 Shengdong Yu Hongtao Wu +2 位作者 Mingyang Xie Haiping Lin Jinyu Ma 《Bio-Design and Manufacturing》 SCIE CSCD 2020年第4期410-426,共17页
A novel robust controller is proposed in this study to realize the precise motion control of a cell puncture mechanism(CPM)driven by piezoelectric ceramics(PEAs).The entire dynamic model of CPM is constructed based on... A novel robust controller is proposed in this study to realize the precise motion control of a cell puncture mechanism(CPM)driven by piezoelectric ceramics(PEAs).The entire dynamic model of CPM is constructed based on the Bouc–Wen model,and the nonlinear part of the dynamic model is optimized locally to facilitate the construction of a robust controller.A model-based,nonlinear robust controller is constructed using time-delay estimation(TDE)and fractional-order nonsingular terminal sliding mode(FONTSM).The proposed controller does not require prior knowledge of unknown disturbances due to its real-time online estimation and compensation of unknown terms by using the TDE technology.The controller also has finite-time convergence and high-precision trajectory tracking capabilities due to FONTSM manifold and fast terminal sliding mode-type reaching law.The stability of the closed-loop system is proved by Lyapunov stability theory.Computer simulation and hardware-in-loop simulation experiments of CPM verify that the proposed controller outperforms traditional terminal sliding mode controllers,such as the integer-order or model-free controller.The proposed controller can also continuously output without chattering and has high control accuracy.Zebrafish embryo is used as a verification target to complete the cell puncture experiment.From the engineering application perspective,the proposed control strategy can be effectively applied in a PEA-driven CPM. 展开更多
关键词 Cell puncture mechanism(CPM) piezoelectric actuator(PEA) Robust motion control fractional-order nonsingular terminal sliding mode(FONTSM) Time-delay estimation(TDE)
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Using Fractional-order PI^λD^μ Controller for Control of Aerodynamic Missile 被引量:4
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作者 张邦楚 朱纪洪 +1 位作者 潘书山 王少锋 《Defence Technology(防务技术)》 SCIE EI CAS 2006年第2期127-131,共5页
A new type of PID controller is introduced and some properties are given. The novelty of the proposed controller consists in the extension of derivation and integration order from integer to non-integer order. The PI... A new type of PID controller is introduced and some properties are given. The novelty of the proposed controller consists in the extension of derivation and integration order from integer to non-integer order. The PIλDμ controller generally has three advantages when compared to the integerl-order controller: the first is that it has more degrees of freedom in the model; the second is that it has a memory in model,the memory insure the history and its impact to present and future,the third is it ensures the stability of missile. This approach provides a more flexible tuning strategy and therefore an easier achieving of control requirements. Flight dynamic model of an aerodynamic missile is taken into account in implementing the PIλDμ controller. Simulation results show that the PIλDμ controller is not sensitive to the changes of control parameters and the system parameters. Also,the controller has more flexible structure and stronger robustness. 展开更多
关键词 导弹 空气动力学 控制器 微积分
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Optimal Tuning of FOPID-Like Fuzzy Controller for High-Performance Fractional-Order Systems
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作者 Ahmed M.Nassef Hegazy Rezk 《Computers, Materials & Continua》 SCIE EI 2022年第1期171-180,共10页
This paper addresses improvements in fractional order(FO)system performance.Although the classical proportional-integral-derivative(PID)-like fuzzy controller can provide adequate results for both transient and steady... This paper addresses improvements in fractional order(FO)system performance.Although the classical proportional-integral-derivative(PID)-like fuzzy controller can provide adequate results for both transient and steady-state responses in both linear and nonlinear systems,the FOPID fuzzy controller has been proven to provide better results.This high performance was obtained thanks to the combinative benefits of FO and fuzzy-logic techniques.This paper describes how the optimal gains and FO parameters of the FOPID controller were obtained by the use of a modern optimizer,social spider optimization,in order to improve the response of fractional dynamical systems.This group of systems had usually produced multimodal error surfaces/functions that occasionally had many variant local minima.The integral time of absolute error(ITAE)used in this study was the error function.The results showed that the strategy adopted produced superior performance regarding the lowest ITAE value.It reached a value of 88.22 while the best value obtained in previous work was 98.87.A further comparison between the current work and previous studies concerning transient-analysis factors of the model’s response showed that the strategy proposed was the only one that was able to produce fast rise time,low-percentage overshoot,and very small steady-state error.However,the other strategies were good for one factor,but not for the others. 展开更多
关键词 Fuzzy-logic control fractional-order systems parameter estimation OPTIMIZATION
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基于PI建模和反步滑模控制的主动波浪补偿策略 被引量:1
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作者 张琴 张蒸忠 +2 位作者 洪逸帆 顾邦平 胡雄 《工程科学与技术》 EI CAS CSCD 北大核心 2024年第1期11-21,共11页
海上起重船受风、浪、涌影响会产生剧烈的船舶姿态变化,造成起重机和货物的位姿变化,对货物和人员存在安全隐患,波浪补偿平台的稳定性控制能有效减少复杂海况下船舶运动对海上作业安全性、稳定性和精准性的影响,对浮式起重船海上设备精... 海上起重船受风、浪、涌影响会产生剧烈的船舶姿态变化,造成起重机和货物的位姿变化,对货物和人员存在安全隐患,波浪补偿平台的稳定性控制能有效减少复杂海况下船舶运动对海上作业安全性、稳定性和精准性的影响,对浮式起重船海上设备精准装载作业极其重要。针对补偿平台的迟滞非线性导致的建模困难和控制不精确问题,本文提出基于PI(Prandtle–Ishlinskii)建模和反步滑模控制的主动波浪补偿策略。首先,通过实验得到补偿系统的迟滞效应曲线,分析系统迟滞环建立PI迟滞模型,并采用递推最小二乘法辨识模型的各个参数,从而求得系统模型。然后,基于李雅普诺夫(Lyapunov)稳定性设计反步控制补偿方法,并结合滑模控制规律加快初始控制速度。最后,将反步滑模法应用于补偿系统,采用MATLAB软件仿真在规则波和不规则波下的响应来验证算法和模型的正确性,并在工控机中用C#编写控制程序,驱动运动控制卡控制伺服电机带动电缸进行补偿运动,同时通过传感器采集系统运动的实时数据,并反馈给工控机形成闭环,以期验证补偿平台在补偿规则波和不规则波下的补偿效果。实验结果表明,所建立的斯图尔特(Stewart)浮式平台中,PI迟滞模型具有良好的精度,反步终端滑模控制算法在Stewart平台的实际控制中能够很好地补偿波浪运动,相比比例–积分–微分控制(PID)、反步法、强化学习等控制方法,反步终端滑模方法能快速较好跟踪期望位移,补偿精度达到0.9729。 展开更多
关键词 主动波浪补偿 pi迟滞模型 反步终端滑模控制 斯图尔特浮式平台
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基于PI参数的二阶线性自抗扰控制参数整定
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作者 马良玉 王月 马进 《控制工程》 CSCD 北大核心 2024年第10期1761-1767,共7页
线性自抗扰控制是一种不依赖于被控过程模型的控制方法,具有很好的工程应用潜力。目前,工业控制过程中大多采用PI控制器,为了确保由调试好的PI控制器平稳切换到线性自抗扰控制器,并使系统仍保持稳定状态,需要合理设置线性自抗扰控制器... 线性自抗扰控制是一种不依赖于被控过程模型的控制方法,具有很好的工程应用潜力。目前,工业控制过程中大多采用PI控制器,为了确保由调试好的PI控制器平稳切换到线性自抗扰控制器,并使系统仍保持稳定状态,需要合理设置线性自抗扰控制器的参数。为此,在分析二阶线性自抗扰控制器的二自由度等效结构的基础上,推导出其反馈控制器与PID控制器的对应关系,给出一种基于现有PI控制参数直接获取二阶线性自抗扰控制初始参数的方法。最后,在MATLAB/Simulink平台上采用若干典型传递函数和双容水箱液位控制系统进行仿真研究,仿真结果验证了所提方法的有效性。 展开更多
关键词 线性自抗扰控制 pi控制 参数整定 带宽方法 仿真研究
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DAB储能变换器双闭环模型预测控制与PI补偿控制策略研究
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作者 陈桂涛 宋晨飞 +2 位作者 刘飞飞 黄伯雄 孙向东 《太阳能学报》 EI CAS CSCD 北大核心 2024年第8期1-9,共9页
针对直流微电网中分布式电源输入输出功率不稳定造成的直流母线电压波动问题,鉴于双有源桥(DAB)储能变换器具有能量双向流动的特点,提出一种基于内模原理的双闭环模型预测控制策略。在分析DAB变换器扩展移相调制原理与特性基础上,重点... 针对直流微电网中分布式电源输入输出功率不稳定造成的直流母线电压波动问题,鉴于双有源桥(DAB)储能变换器具有能量双向流动的特点,提出一种基于内模原理的双闭环模型预测控制策略。在分析DAB变换器扩展移相调制原理与特性基础上,重点研究电压外环和电流内环的模型预测控制策略。针对模型预测控制性能依赖电路参数准确度问题,分别从电路主要参数失配对功率传输和直流母线稳压的影响两个角度出发,深入分析模型参数敏感度。最终设置直流母线电压稳态误差灵敏度区,在误差灵敏度区外仅采用双闭环模型预测控制以保证系统的动态响应性能,在误差灵敏度区内采用双闭环模型预测控制和PI补偿控制以消除系统稳态误差。搭建实验平台进行实验验证,结果表明:在系统受到扰动时,DAB储能变换器可实现快速地充放电对系统进行补偿,混合控制策略可快速保持母线电压的稳定,实现系统功率均衡,增强系统抗扰能力。 展开更多
关键词 微电网 变换器 直流母线电压波动 双有源桥 扩展移相 双闭环模型预测控制 pi补偿控制
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模糊整定PI参数的双柔性机械臂振动抑制
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作者 李小彭 周赛男 +1 位作者 刘佳琪 尹猛 《东北大学学报(自然科学版)》 EI CAS CSCD 北大核心 2024年第2期217-225,共9页
机械臂伺服驱动系统中柔性因素的存在易导致机械臂输出转速波动,甚至引发系统谐振.为抑制系统转速波动,使机械臂传动系统性能稳定,使用模糊理论整定PI控制器参数的控制策略.根据假设模态法和拉格朗日动力学方程建立了考虑LuGre摩擦模型... 机械臂伺服驱动系统中柔性因素的存在易导致机械臂输出转速波动,甚至引发系统谐振.为抑制系统转速波动,使机械臂传动系统性能稳定,使用模糊理论整定PI控制器参数的控制策略.根据假设模态法和拉格朗日动力学方程建立了考虑LuGre摩擦模型的双柔性机械臂传动系统动力学方程,并分析了动力学方程中耦合非线性项对系统传动特性的影响.使用极点配置策略确定PI控制器参数的取值范围,后根据模糊规则实时调整控制器参数,以减小伺服系统输出转速的波动,进而抑制系统谐振.最后,借助数值仿真分析和机械臂控制实验,与传统PI控制策略对比,发现本文所述控制策略可使电机端转角跟踪误差绝对值的平均值降低43.066%,柔性负载转角误差的标准差降低46.506%,更加验证了所提模糊规则整定PI控制器参数抑振方法的有效性. 展开更多
关键词 双柔性机械臂 柔性关节 柔性负载 模糊整定 pi控制
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基于改进灰色预测单神经元PI的全超导托卡马克核聚变发电装置快控电源电流控制
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作者 黄海宏 陈昭 王海欣 《电工技术学报》 EI CSCD 北大核心 2024年第6期1886-1897,共12页
全超导托卡马克核聚变发电装置(EAST)快控电源负载电感的电流受多种不确定环境因素的影响而难以预测,灰色预测无需精确对象模型,只需少量已知信息即可实现输出电流短期预测,已在EAST快控电源中有了一定研究应用。为解决灰色预测在EAST... 全超导托卡马克核聚变发电装置(EAST)快控电源负载电感的电流受多种不确定环境因素的影响而难以预测,灰色预测无需精确对象模型,只需少量已知信息即可实现输出电流短期预测,已在EAST快控电源中有了一定研究应用。为解决灰色预测在EAST快控电源中对突变信号边沿预测精度低和预测延时时间长的问题,提出一种改进灰色预测算法实现输出电流预测。在一个开关周期内对输出电流进行等时长间隔采样4次作为原始序列,将滚动式采样预测改为逐周期采样预测,在实现灰色预测的过程中不必依赖过去几个周期的历史采样信息,只需本周期的4个原始采样值即可实现输出电流的预测。根据预测电流与参考电流误差自适应调整单神经元比例-积分(PI)控制的输出增益,实现输出电流的快速准确控制。仿真和实验结果表明,在EAST快控电源电流预测过程中所提出的改进灰色预测,对比传统灰色预测具有更高的预测精度和更小的预测延时,改进灰色预测变增益单神经元PI控制能够在减小电流超调的同时加快输出电流响应速度。 展开更多
关键词 EAST快控电源 改进灰色预测 逐周期采样预测 变增益单神经元pi
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高压输电线软体巡检机器人磁致动机制及PI滑模控制研究
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作者 徐显金 张奕康 +2 位作者 颜海峰 刘兰兰 黄彦澔 《机床与液压》 北大核心 2024年第15期14-21,共8页
为解决高压输电线刚性悬臂巡检机器人尺寸大、笨重、越障不灵活、效率低等问题,设计一种高压磁致动软体巡检机器人,利用载流线圈在高压直流环形磁场中受到的安培力驱动软体机器人以柔顺和蠕动方式高效灵活地跨越多种障碍物。对该机器人... 为解决高压输电线刚性悬臂巡检机器人尺寸大、笨重、越障不灵活、效率低等问题,设计一种高压磁致动软体巡检机器人,利用载流线圈在高压直流环形磁场中受到的安培力驱动软体机器人以柔顺和蠕动方式高效灵活地跨越多种障碍物。对该机器人进行本体构型设计并分析其工作姿态,实现稳定巡检功能;对磁致动驱动器进行理论设计和分析,利用Comsol仿真软件对其所需驱动力进行仿真,验证理论的可实行性;通过拉格朗日法对高压磁致动软体巡检机器人进行动力学建模,构建系统动力学方程,获取机器人的关节角度、速度、加速度之间的关系;最后,通过MATLAB利用基于PI滑模控制法对简化后的高压磁致动软体巡检机器人动力学模型实行速度和角速度高精度追踪仿真。仿真结果表明:在滑模控制下,角度在1.5 s追踪上理想信号,角速度在0.3 s后追上理想信号,证明基于PI的滑模控制器能够实现对高压磁致动软体巡检机器人的有效控制。 展开更多
关键词 高压输电线 软体巡检机器人 磁致动 动力学建模 pi滑模控制
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基于板带厚度误差PI反馈的轧机辊缝调节方法
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作者 闫玉平 赵一兴 +3 位作者 李菲 俞洪杰 杨伟 余涛 《重型机械》 2024年第1期27-31,共5页
针对轧机刚度系数未知波动影响板带厚度控制精度的问题,提出了基于板带厚度误差PI反馈的轧机辊缝调节方法。首先,建立轧机弹跳方程、液压辊缝调节动态方程,以及从辊缝设定值到板带出口厚度的动态方程;其次通过测厚仪和测压计,获取轧机... 针对轧机刚度系数未知波动影响板带厚度控制精度的问题,提出了基于板带厚度误差PI反馈的轧机辊缝调节方法。首先,建立轧机弹跳方程、液压辊缝调节动态方程,以及从辊缝设定值到板带出口厚度的动态方程;其次通过测厚仪和测压计,获取轧机出口处的板带厚度,以及轧机施加的轧制压力;然后设计基于板带厚度误差量PI反馈的辊缝大小的设定值,同时引入比例反馈增益系数与积分反馈增益系数的单参数化设计;最后将辊缝大小的设定值输入轧机液压辊缝调节系统进行辊缝调节,最终形成一套完整的轧机辊缝调节方法。该方法提高了轧制参数的预设定精度,大大减小了轧机刚度系数波动对板带厚度控制精度的影响,从而提高了板带厚度精度。 展开更多
关键词 厚度控制 辊缝调节 轧机刚度系数 pi反馈
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Vision Navigation Based PID Control for Line Tracking Robot 被引量:1
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作者 Rihem Farkh Khaled Aljaloud 《Intelligent Automation & Soft Computing》 SCIE 2023年第1期901-911,共11页
In a controlled indoor environment,line tracking has become the most practical and reliable navigation strategy for autonomous mobile robots.A line tracking robot is a self-mobile machine that can recognize and track ... In a controlled indoor environment,line tracking has become the most practical and reliable navigation strategy for autonomous mobile robots.A line tracking robot is a self-mobile machine that can recognize and track a painted line on thefloor.In general,the path is set and can be visible,such as a black line on a white surface with high contrasting colors.The robot’s path is marked by a distinct line or track,which the robot follows to move.Several scientific contributions from the disciplines of vision and control have been made to mobile robot vision-based navigation.Localization,automated map generation,autonomous navigation and path tracking is all becoming more frequent in vision applications.A visual navigation line tracking robot should detect the line with a camera using an image processing technique.The paper focuses on combining computer vision techniques with a proportional-integral-derivative(PID)control-ler for automatic steering and speed control.A prototype line tracking robot is used to evaluate the proposed control strategy. 展开更多
关键词 Line tracking robot vision navigation piD control image processing OPENCV raspberry pi
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Fractional-order permanent magnet synchronous motor and its adaptive chaotic control 被引量:9
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作者 李春来 禹思敏 罗晓曙 《Chinese Physics B》 SCIE EI CAS CSCD 2012年第10期168-173,共6页
In this paper we investigate the chaotic behaviors of the fractional-order permanent magnet synchronous motor(PMSM).The necessary condition for the existence of chaos in the fractional-order PMSM is deduced.And an a... In this paper we investigate the chaotic behaviors of the fractional-order permanent magnet synchronous motor(PMSM).The necessary condition for the existence of chaos in the fractional-order PMSM is deduced.And an adaptivefeedback controller is developed based on the stability theory for fractional systems.The presented control scheme,which contains only one single state variable,is simple and flexible,and it is suitable both for design and for implementation in practice.Simulation is carried out to verify that the obtained scheme is efficient and robust against external interference for controlling the fractional-order PMSM system. 展开更多
关键词 fractional-order permanent magnet synchronous motor adaptive chaotic control
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