一种基于模糊逼近的双容水箱鲁棒控制器设计
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摘要
应用物料平衡原理及状态方程方法建立双容水箱液位动态模型,根据鲁棒控制原理及模糊控制的万能逼近性质设计控制器。在不同初始参数及不确定性干扰条件下,应用MATLAB对水箱系统及所设计控制器进行仿真验证,实验结果表明,与基于传递函数的控制器相比,该控制器在不同条件下均能保持有效的控制效果,且调节时间更短、超调量更小,对系统初值选取不敏感。
A dynamic model of coupled tank liquid level system is abstractly established based on the material balance principle and the state equation,and consequently a controller is designed according to the robust control principle and the universal approximation of fuzzy control.By using MATLAB,the coupled tank system and the controller are simulated respectively with different initial parameters and under disturbances of different uncertainties.Experimental results show that compared with the transfer-function-based controller,the designed controller can remain effective control under different conditions,that it has shorter settling time and smaller magnitude overshoot,and that it is less sensitive to the initial value of the controlled system.
A dynamic model of coupled tank liquid level system is abstractly established based on the material balance principle and the state equation,and consequently a controller is designed according to the robust control principle and the universal approximation of fuzzy control.By using MATLAB,the coupled tank system and the controller are simulated respectively with different initial parameters and under disturbances of different uncertainties.Experimental results show that compared with the transfer-function-based controller,the designed controller can remain effective control under different conditions,that it has shorter settling time and smaller magnitude overshoot,and that it is less sensitive to the initial value of the controlled system.
引文
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[15]刘俊豪,张皓,陈启军.具有均匀量化器的非线性网络控制系统的一致有界性[J/OL].控制理论与应用,2012,29(11):1388-1396[2017-11-21].http://www.oalib.com/paper/4749424.DOI:10.7641/j.issn.1000-8152.2012.11.CCTA110797.
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[2]夏业启.基于PLC和智能称重仪表的自动灌装机控制系统设计[J/OL].自动化应用,2012(4):55-58[2017-11-09].http://d.wanfangdata.com.cn/Periodical/zdhyy201204034.
[3]李晓理,李骥,石陇辉.水箱液位系统的建模与仿真[J/OL].系统仿真学报,2010,22(4):829-832[2017-11-30].http://d.wanfangdata.com.cn/Periodical/xtfzxb201004002.DOI:10.16182/j.cnki.joss.2010.04.055.
[4]段宏伟.基于模糊算法的双容水箱液位控制系统设计[J/OL].建材技术与应用,2011,(8):28-29[2017-11-15].http://d.wanfangdata.com.cn/Periodical/jcjsyyy201108013.DOI:10.13923/j.cnki.cn14-1291/tu.2011.08.011.
[5]魏玉莉.基于KNT-PGK3型的水箱液位模糊PID控制研究[J/OL].自动化与仪器仪表,2016(7):9-11[2017-11-30].http://d.wanfangdata.com.cn/Periodical/zdhyyqyb201607004.DOI:10.14016/j.cnki.1001-9227.2016.07.009.
[6]陈怀忠.基于BP神经网络PID算法的水箱液位控制系统设计[J/OL].实验技术与管理.2012,29(12):81-84[2017-11-22].http://d.wanfangdata.com.cn/Periodical/syjsygl201212024.DOI:10.16791/j.cnki.sjg.2012.12.024.
[7]曹玉波,高维平,杨莹.基于状态方程模型的双容水箱实时仿真[J/OL].计算机与应用化学,2014,31(2):244-246[2017-11-07].http://d.wanfangdata.com.cn/Periodical_jsjyyyhx201402026.aspx.DOI:10.11719/com.app.chem20140226.
[8]王文庆.复杂系统自适应鲁棒控制:基于模糊逻辑系统的分析设计[M].西安:西北工业大学出版社,2005:63-77.
[9]高文华,邓飞其.不确定变时滞非线性随机系统的鲁棒稳定性[J/OL].华南理工大学学报(自然科学版),2010,38(6):50-54[2017-11-13].http://d.wanfangdata.com.cn/Periodical/hnlgdxxb201006010.DOI:10.3969/j.issn.1000-565X.2010.06.010.
[10]于开宣.一类线性不确定时滞系统的鲁棒控制[J/OL].四川师范大学学报(自然科学版),2010,33(4):479-482[2010-08-16].http://d.wanfangdata.com.cn/Periodical/scsfdxxb201004015.DOI:10.3969/j.issn.1001-8395.2010.04.015.
[11]张蕾,刘贺平,廖福成.改进的时变时滞不确定离散系统的鲁棒稳定性分析[J/OL].控制工程,2010,17(6):755-758[2017-11-13].http://d.wanfangdata.com.cn/Periodical/jczdh201006011.DOI:10.3969/j.issn.1671-7848.2010.06.011.
[12]刘秀翀,宋崇辉,褚恩辉.一类缺乏明确平衡点的不确定系统的部分变量镇定[J/OL].自动化学报,2013,9(6):780-789[2017-11-22].http://kns.cnki.net/KCMS/detail/detail.aspx?filename=moto201306011&dbname=CJFD&dbcode=CJFQ.
[13]刘继清,黄金花.基于LMI的不确定时滞非线性系统鲁棒镇定研究[J/OL].南京信息工程大学学报(自然科学版),2012,4(1):29-33[2017-11-15].http://d.wanfangdata.com.cn/Periodical/njxxgcdxxb201201002.DOI:10.3969/j.issn.1674-7070.2012.01.002.
[14]王琳,张根宝.自抗扰控制器在双容水箱中的应用[J/OL].计算机测量与控制,2013,21(3):775-778[2017-11-20].http://kns.cnki.net/KCMS/detail/detail.aspx?filename=jzck201303070&dbname=CJFD&dbcode=CJFQ.DOI:10.16526/j.cnki.11-4762/tp.2013.03.086.
[15]刘俊豪,张皓,陈启军.具有均匀量化器的非线性网络控制系统的一致有界性[J/OL].控制理论与应用,2012,29(11):1388-1396[2017-11-21].http://www.oalib.com/paper/4749424.DOI:10.7641/j.issn.1000-8152.2012.11.CCTA110797.
[16]WANG L X.Fuzzy systems are universal approximations[C/OL]//1992Proceedings of IEEE International Conference on Fuzzy Systems.[S.L.]:IEEE,1992:1163-1170[2002-08-06].http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=258721.DOI:10.1109/FUZZY.1992.258721.