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Design of robust autotuning control system based on model validation

基于模型验证的鲁棒自调谐控制系统设计

基本信息

批准号：
12650448
负责人：
SAEKI Masami
金额：
$ 2.18万
依托单位：
HIROSHIMA UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2000
资助国家：
日本
起止时间：
2000 至 2002
项目状态：
已结题

项目摘要

1) We propose a data-driven design method of PID controllers for a mixed sensitivity control problem based on unfalsified control concept. This method does not require constructing a mathematical model but only requires the input and output response of the plant of a feedback system excited by sinusoidal reference inputs for many frequencies. A falsified region which satisfies a necessary condition on the PID gains is drawn on the parameter plane for each frequency.2) We propose two adaptive identification methods of the critical point, and examine the property by water level-control experiments. The critical gain is identified by using the self-oscillation of the feedback system composed of the plant, a saturation function and a tuning gain where the gain is decreased gradually based the saturation information. This method can be also applied to multi-input multi-output plants. Further, inorder to identify the critical frequency, a new tuning rule which use an adaptive frequency estimator is proposed. These two methods works well for computer simulation, but we found by experiments that the convergence speed is much slower than the simulation result for practical use.3) We examine nonlinear control problems such as antiwindup control for input saturation plant, backward driving control problem of articulated vehicles, and hovering control of twin rotor helicopter model in order to obtain a fundamental knowledge to such a complicated systems and to study such systems by unfalsified control concept in the future. The usefulness is examined by simulation and experiments.

1)针对混合灵敏度控制问题，提出了一种基于非证伪控制概念的数据驱动PID控制器设计方法。该方法不需要建立数学模型，只需要在多个频率下由正弦参考输入激励的反馈系统的输入和输出响应。在每个频率的参数平面上绘制了满足PID增益必要条件的伪化区域。2)提出了两种临界点的自适应辨识方法，并通过水位控制实验检验了其特性。临界增益是通过利用由植物、饱和函数和调谐增益组成的反馈系统的自振荡来确定的，其中增益根据饱和信息逐渐降低。该方法也可应用于多输入多输出系统。在此基础上，提出了一种利用自适应频率估计器识别临界频率的调谐规则。这两种方法在计算机模拟中效果良好，但在实际应用中，我们发现其收敛速度比模拟结果慢得多。3)研究了输入饱和对象的反卷绕控制、铰接飞行器的后向驱动控制、双旋翼直升机模型的悬停控制等非线性控制问题，以期对这类复杂系统有一个基本的认识，并在将来用非证伪控制的概念来研究这类系统。通过仿真和实验验证了该方法的有效性。