自适应控制课件.pdf

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1、12/13/2012UniversityofKurdistanH.BevraniDept.ofElectricalEngineering12/12/12ContentsoAnIntroductiononAdaptiveControloPIDcontrol:Adaptive/Self‐TuningoPolePlacementUsingOutputFeedbackoIndirectSelf‐TuningRegulators(STR)oConclusion2112/13/2012IntroductionControl

2、lerdesignforaclassofdynamicsystemswith:oModelinguuceaesncertaintiesoTimevariantvariablesoUnknowndisturbancesandnoisesObjectives:oStabilizingorstabilityimprovementoDesirableperformance3AutonomousFlightControl4212/13/2012SolutionsoRobustControl(LTIsystems)oInt

3、eegelligentCooontrol(NLTVsyssyses)tems)oAdaptiveControls(NLTVsystems)5Applications14009080Ｏ（Others）1200ＰＷ（Powerplant）70Ｅ（Engineering）100060ＣＲ（Cementandceramic）ＰＰ（Pulpandpaper）80050ＣＦ（Chemical,fiber,film）ＰＣ（Petrochemical）Applications40600Ｒ（Refinery）30S(Steela

4、ndmetal）400202001000ObserverOptimizationFuzzycontrolKalmanfilterDecouplingPIDNeuralnetworkPIDautotuningGainschedulingfreedomPIDAdaptivecontrolOptimalregulatorRulebasedcontrolRepetitivecontrolＨinfinitycontrolExactlinearizarionSlidingmodecontrolI-PDand2degrees

5、ofDeadtimecompensationControlTechnologiesModelpredictivecontrolTakatsu,H.,Itou,T.:FutureNeedsforControlTheoryinIndustryReportoftheControlTechnologySurveyinJapaneseIndustry,IEEETransactiononControlSystemsTechnology,07,03pp.298‐305(1999)312/13/2012AdaptiveCont

6、rolControllerbehavioradaptationaccordingtotheappearedchangesinsystemdynamicsandexistingdisturbances/noisesClassicalcategories:oIdentifier‐basedadaptivecontroloNon‐identifier‐basedadaptivecontrol7AdaptiveControlTheparameteradjustmentloopisusuallyslowerthanthe

7、normalfeedbackloop.8412/13/2012Non‐identifier‐basedAdaptiveControloGainSchedulingoSwitchingControl9Identifier‐basedAdaptiveControloModelReferenceAdaptiveSystem(MRAS)oSelf‐TuningRegulator(STR)10512/13/2012PIDControlPIDTermsPropertiesIncaseoscillatingandsmallo

8、vershoot,IncaseNooscillation,slowconvergence,Increase/DecreaseDanddecreaseI.DecreaseP&I.IncaselargeovershootandfastIncaseslowoscillationandconvergence,convergence,Increase/decreaseP&I.DecreasePa