摘要
为了克服液位系统模糊控制的不稳定性和线性二次型调节器(linear quadratic regulator,LQR)控制的模型不确定性,设计了模糊和LQR切换控制器;根据系统液位反馈值设计模糊、模糊和LQR加权以及LQR控制并切换策略,确保在液位稳定的情况下实现控制器之间的平稳切换,避免了模糊和LQR直接切换时出现液位大幅度波动现象,并在Quanser公司的储联罐实验平台上进行实验研究,结果表明,模糊与LQR切换过程中液位平稳上升,模糊和LQR切换控制器提高了液位系统响应速度和稳定性。
In order to overcome the instability of fuzzy control and the uncertainty of LQR （ linear quadratic regulator） in the liquid level system, a fuzzy and LQR switching controller was designed. The controller switching strategy of fuzzy, the weighting of fuzzy and LQR and LQR control was designed based on the system level feedback values, which realized smooth switching between controllers in the case of guaranteeing the stability of liquid level and avoided the significant change of liquid level in the process of fuzzy and LQR direct switch. Through experiment on the Quanser company＇ s coupled water tanks platform, it is shown that the liquid level rises steadily in the process of fuzzy and LQR switching, and the response speed and the stability of the liquid level system are improved by the fuzzy and LQR switching controller.
作者
于美娟
申涛
YU Meijuan SHEN Tao(School of Electrical Engineering, University of Jinan, Jinan 250022, Chin)
出处
《济南大学学报（自然科学版）》
CAS
北大核心
2016年第4期310-314,共5页
Journal of University of Jinan(Science and Technology)
基金
国家自然科学基金(61473135)
关键词
模糊控制
线性二次型调节器
储联罐
液位控制
fuzzy control
linear quadratic regulator
coupled water tank
liquid level control
