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Partial deviation information based parameter self-setting method of SISO tight-format model-free controller

A parameter self-tuning, model-free technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the time-consuming and laborious debugging process of SISO compact format model-free controller, lack of effective tuning means, and restrict SISO Problems such as the popularization and application of compact format model-free controllers to achieve good control effects

Active Publication Date: 2018-05-25
ZHEJIANG UNIV
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Problems solved by technology

The lack of effective parameter tuning methods not only makes the debugging process of the SISO compact model-free controller time-consuming and laborious, but also sometimes seriously affects the control effect of the SISO compact model-free controller, restricting the development of the SISO compact model-free controller. Promote application

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  • Partial deviation information based parameter self-setting method of SISO tight-format model-free controller
  • Partial deviation information based parameter self-setting method of SISO tight-format model-free controller
  • Partial deviation information based parameter self-setting method of SISO tight-format model-free controller

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Embodiment Construction

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0040] figure 1 The principle block diagram of the present invention is given. SISO compact format model-free controller parameters include penalty factor λ and step size factor ρ; determine the SISO compact format model-free controller parameters to be tuned, the SISO compact format model-free controller parameters to be tuned, for the SISO compact format Part or all of the parameters of the model controller, including any one or any combination of penalty factor λ and step size factor ρ; in figure 1 Among them, the parameters to be tuned by the SISO compact format model-free controller are the penalty factor λ and the step size factor ρ; the number of input layer nodes, the number of hidden layer nodes, and the number of output layer nodes of the BP neural network are determined, and the number of nodes in the output layer is not Less than ...

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Abstract

The invention discloses a partial deviation information based parameter self-setting method of an SISO tight-format model-free controller. Partial deviation information serves as input of a BP neuralnetwork, the BP neural network carries out forward calculation and outputs to-be-set parameters including an output-layer output punishing factor and a step factor, a control algorithm of the controller is used to calculate a control input vector aimed at a controlled object, reverse spreading of system errors is calculated by taking minimizing a value of a system error function as the target, employing a gradient decrease method and controlling input aimed at gradient information of parameters to be set, a hidden-layer weight coefficient and an output-layer weight coefficient of the BP neuralnetwork are updated online in real time,. and the gradient information is stored as partial deviation information and serves as input of the BP neural network in next time. The method can be used toovercome difficulty in parameter setting of the controller, and has a good control effect.

Description

technical field [0001] The invention belongs to the field of automatic control, in particular to a parameter self-tuning method of a SISO compact format model-free controller based on partial derivative information. Background technique [0002] Model-free controller is a new type of data-driven control method, which does not rely on any mathematical model information of the controlled object, but only relies on the real-time measured input and output data of the controlled object for controller analysis and design, and realizes concise, computational The burden is small and the robustness is strong, and the unknown nonlinear time-varying system can also be well controlled, and has a good application prospect. [0003] There are many implementation methods of model-free controllers, among which SISO (Single Input and Single Output, single input and single output) compact format model-free controller is one of the main implementation methods of model-free controllers. The th...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
CPCG05B13/024
Inventor 卢建刚李雪园
Owner ZHEJIANG UNIV
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