提出了用于直流控制器比例一积分(proportional plus integral,PI)参数寻优的一种系统化方法。首先根据Bode图求出满足系统稳定性要求的PI参数范围;再对该参数范围按一定步长进行划分,得到有限组PI参数以构成PI参数寻优的样本集;对应每...提出了用于直流控制器比例一积分(proportional plus integral,PI)参数寻优的一种系统化方法。首先根据Bode图求出满足系统稳定性要求的PI参数范围;再对该参数范围按一定步长进行划分,得到有限组PI参数以构成PI参数寻优的样本集;对应每一个样本参数仿真计算控制器的阶跃响应, 并按时间乘绝对误差积分(integral of time multiplied by the absolute value of error,ITAE)准则计算目标函数值;取对应 ITAE目标函数值最小的样本参数为最优PI参数。找到的最优PI参数在工程上可近似认为是全局最优的。根据该方法设计了葛洲坝-南桥直流输电工程中的PI控制器,并通过仿真验证了其有效性。展开更多
This paper studies the problem of optimal parallel tracking control for continuous-time general nonlinear systems.Unlike existing optimal state feedback control,the control input of the optimal parallel control is int...This paper studies the problem of optimal parallel tracking control for continuous-time general nonlinear systems.Unlike existing optimal state feedback control,the control input of the optimal parallel control is introduced into the feedback system.However,due to the introduction of control input into the feedback system,the optimal state feedback control methods can not be applied directly.To address this problem,an augmented system and an augmented performance index function are proposed firstly.Thus,the general nonlinear system is transformed into an affine nonlinear system.The difference between the optimal parallel control and the optimal state feedback control is analyzed theoretically.It is proven that the optimal parallel control with the augmented performance index function can be seen as the suboptimal state feedback control with the traditional performance index function.Moreover,an adaptive dynamic programming(ADP)technique is utilized to implement the optimal parallel tracking control using a critic neural network(NN)to approximate the value function online.The stability analysis of the closed-loop system is performed using the Lyapunov theory,and the tracking error and NN weights errors are uniformly ultimately bounded(UUB).Also,the optimal parallel controller guarantees the continuity of the control input under the circumstance that there are finite jump discontinuities in the reference signals.Finally,the effectiveness of the developed optimal parallel control method is verified in two cases.展开更多
文摘提出了用于直流控制器比例一积分(proportional plus integral,PI)参数寻优的一种系统化方法。首先根据Bode图求出满足系统稳定性要求的PI参数范围;再对该参数范围按一定步长进行划分,得到有限组PI参数以构成PI参数寻优的样本集;对应每一个样本参数仿真计算控制器的阶跃响应, 并按时间乘绝对误差积分(integral of time multiplied by the absolute value of error,ITAE)准则计算目标函数值;取对应 ITAE目标函数值最小的样本参数为最优PI参数。找到的最优PI参数在工程上可近似认为是全局最优的。根据该方法设计了葛洲坝-南桥直流输电工程中的PI控制器,并通过仿真验证了其有效性。
基金supported in part by the National Key Reseanch and Development Program of China(2018AAA0101502,2018YFB1702300)in part by the National Natural Science Foundation of China(61722312,61533019,U1811463,61533017)in part by the Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles。
文摘This paper studies the problem of optimal parallel tracking control for continuous-time general nonlinear systems.Unlike existing optimal state feedback control,the control input of the optimal parallel control is introduced into the feedback system.However,due to the introduction of control input into the feedback system,the optimal state feedback control methods can not be applied directly.To address this problem,an augmented system and an augmented performance index function are proposed firstly.Thus,the general nonlinear system is transformed into an affine nonlinear system.The difference between the optimal parallel control and the optimal state feedback control is analyzed theoretically.It is proven that the optimal parallel control with the augmented performance index function can be seen as the suboptimal state feedback control with the traditional performance index function.Moreover,an adaptive dynamic programming(ADP)technique is utilized to implement the optimal parallel tracking control using a critic neural network(NN)to approximate the value function online.The stability analysis of the closed-loop system is performed using the Lyapunov theory,and the tracking error and NN weights errors are uniformly ultimately bounded(UUB).Also,the optimal parallel controller guarantees the continuity of the control input under the circumstance that there are finite jump discontinuities in the reference signals.Finally,the effectiveness of the developed optimal parallel control method is verified in two cases.
