滑模变结构控制及其在套印系统中的应用
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摘要
本文以凹版印刷机自动套印系统为背景，对智能变结构套印控制方法作了深入的理论研究和数字仿真实验。本文首先在常规滑模变结构理论的基础上，设计了自动套印系统控制器。然后对滑模变结构、模糊控制和神经网络之间的互补性进行了深入的分析与研究，提出了一种基于模糊神经网络的滑模变结构设计方法，利用模糊神经网络在线调整符号函数的幅值，实现了系统的鲁棒控制。理论分析和仿真结果表明，本文提出的智能变结构控制方法具有收敛速度快、算法简单、稳定性好的优点，适用于套印及其它快速变化的复杂工业系统，有效地提高了系统性能。
This thesis makes a theoretical and simulation study on an intelligent variable structure controller and its application to the automatic overprint control systems of gravure printing press.
The paper first designs an automatic overprint controller in light of the routine sliding mode variable structure. Then the design of the intelligent control of sliding mode variable structure is presented on the basis of the great complementarities of the sliding mode variable structure, the fuzzy control and the neural network control. By adjusting on-line the value of symbolic function terms with the fuzzy neural network, the robustness of the system is achieved and the chatter in the sliding surface is reduced.
The theoretical analysis and the simulation result all show that, with the advantages of the fast converging speed, the simple algorithm as well as the good stability, the intelligent control of variable structure is practical and efficient for the overprint controller and the other fast-changing complicated industrial systems.
This thesis makes a theoretical and simulation study on an intelligent variable structure controller and its application to the automatic overprint control systems of gravure printing press.
The paper first designs an automatic overprint controller in light of the routine sliding mode variable structure. Then the design of the intelligent control of sliding mode variable structure is presented on the basis of the great complementarities of the sliding mode variable structure, the fuzzy control and the neural network control. By adjusting on-line the value of symbolic function terms with the fuzzy neural network, the robustness of the system is achieved and the chatter in the sliding surface is reduced.
The theoretical analysis and the simulation result all show that, with the advantages of the fast converging speed, the simple algorithm as well as the good stability, the intelligent control of variable structure is practical and efficient for the overprint controller and the other fast-changing complicated industrial systems.
引文
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[3]廖晓钟．电力电子技术与电气传动[M]．北京：北京理工大学出版社，2000
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[6]张昌凡，王耀南．滑模变结构的智能控制及其应用[J]．中国电机工程学报，2001，21(3)：27～29
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[9]王耀南．计算智能信息处理技术及其应用[M]．长沙：湖南大学出版社，1999
[10]孙增祈，张再兴，邓志东．智能控制理论与技术[M]．北京：清华大学出版社和广西科学技术出版社，1997
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[12]Utkin V I. Sliding mode and their application in VSSs[M]. Moscow, 1978
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[15]Murty A S R, Parameswaran S, Ramar K. Design of variable structure stabilizer using pole assignment technique[J]. Electric Machines and Power systems, 1998, 26:185～206
[16]Hsu Y Y, Chan W C. Optimal variable-structure controller for DC motor speed control[J]. IEE Proc. pt. D., 1984, 131(6): 233～237
[17]Urkin V I. Variable structure systems with sliding modes[J]. IEEE Trans.Automat.Contr.,1977, AC(22)
[18]E1-Ghezawi O M E, Zinober A S I, Billings S A. Analysis and design of variable structure systems using a geometric approach[J]. Int. J. Contr.,1983, 38(3): 657～671
[19]Young K K D. Design of variable structure model-following control systems[J]. IEEE Trans. Automat. Contr., 1978, AC(23)
[20]Dorling C M. Two approaches to hyper-plane design in multivariable structure control systems[J]. Int.J.Contr., 1986,44(1): 65～82
[21]Young K D, Ozuguner U. Frequency shaping compensator for sliding mode[J]. Int. J. Contr., 1993, 57(5): 1005～1019
[22]Koshkouei A J. Zinober A S I. Robust frequency shaping sliding mode control[J]. IEE Proc. Control Theory Appl., 2000, 147(3):312～320
[23]贾志勇，林延圻，朝嵩伟．一种基于频率整形的滑模变结构控制器设计[J]．工业仪表与自动化装置，1999，145(1)：3～5
[24]冯勇，安澄全，李涛．采用双滑模面减少一类非线性系统的稳态误差[J]．控制与决策， 2000，(3)：361～364
[25]Shyu K K, et al. A modified variable structure controller[J]. Automatica, 1992,28(6): 1209～1213
[26]Shyu K K, Shieh H J. A new switching surface sliding mode speed control for induction motor drive system[J]. IEEE Trans. Power Electron, 1996, 11:660～667
[27]Lee J J, Xu Y S. A new method of switching surface design for multivariable variable structure systems[J]. IEEE Trans. on Automatic Control, 1994, 39(2)
[28]夏常弟，李治．具有随机量测噪声的变结构控制[J]．控制与决策，1994，9(3)：226～229
[29]Wang W J, Lin H R. Fuzzy control design for the trajectory trucking on uncertain nonlinear systems[J]. IEEE Trans. on Fuzzy Systems, 1999, 7(1): 53～62
[30]Guldner J, Utkin V I. Tracking the gradient of artificial field sliding mode control for mobile robots[J]. Int. J. Contr., 1996, 64:417～432
[31]Ackemann J, Utkin V I. Sliding mode control based on Ackermann's formula[A]. Proc. 33rd IEEE Conference on Decision and Control, 1994, 4:3622～3627
[32]Park K B, Lee J J. Variable structure controller for robotic manipulators using time-varying sliding surface[A]. Proc. of 1993 IEEE Conference on Robotics and Automation, 1993, 1:89～93
[33]Choi S B, Park D W. Moving sliding surfaces for fast tracking control of second order dynamical systems[J].ASME Journal of Dynamic Systems, Measurement and Control, 1994, 116:154～158
[34]Ha Q P, Rye D C, Durrant-Whyte H F. Fuzzy moving sliding mode control wit application to robotic manipulators[J]. Automatica, 1999, 35:607～616
[35]Bartoszewicz A. Time-varying sliding modes for second-order system[J]. IEEE Proc. Control Theory Appi., 1996, 143(5): 455～462
[36]Choi S B, Cheong C C, Park D W. Moving switching surface for robust control of second-order variable structure systems[J]. Int. J. Contr., 1993, 58: 229～247
[37]Dong W P, Seung B C. Moving sliding surface for high-order variable structure systems[J]. Int. J. Contr., 1999, 72(11): 960～970
[38]Utkin V I. Sliding modes and their application in discontinuous systems[J]. Automat. Remote Contr., 1974, 21:1898～1907
[39]Balasubramanyam P V, Murthy A S R, et al. Design of variable structure controller for static compensator[J]. Electric Machines and power systems, 1998, 26: 431～450
[40]Slotine J J, Sastry S S. Tracking control of non-linear systems using sliding surfaces with application to robot manipulations[J]. Int. J. Contr., 1982, 36(5):833～843
[41]高为炳．变结构控制理论基础[M]．北京：科学出版社，1990
[42]Yung J Y, Gao W, Hung J C. Variable structure control: A survey[J]. IEEE Trans. on Ind. Electron.,1993, 40(1): 2～22
[43]高为炳．变结构控制的理论及设计方法[M]．北京：科学出版社，1998
[44]Slotine T T E, Hedrick J K, Misawa E A. Nonlinear state estimation using sliding observers[A]. Proc. 25th Conf. Dec., Cont., Althens, Greece, Dec., 1986, 332～339
[45]Slitine T T E. Sliding controller design for nonlinear systems[J]. Int. J. Control, 1984, 40(2): 421～434
[46]高为炳．变结构研究的发展与现状[J]．控制与决策，1993，8(4)：241～248
[47]Burton J A, Zinober S I. Continuous approximations of variable structure control[J]. Int. J. SYS. SCI., 1986, 17(6)
[48]王丰尧．滑模变结构控制[M]．北京：机械工业出版，1995
[49]陈卫田，施颂椒．基于神经网络的非线性自适应控制[J]．控制理论与应用，1996，13(5)
[50]焦李成．神经网络的应用与实现[M]．西安：西安电子科技大学出版社，1996
[51]王耀南．智能控制系统[M]．长沙：湖南大学出版社，1996
[52]张昌凡，王耀南．模糊神经滑模控制在交流伺服系统中的应用[J]．电机与控制学报，1999，3(4)：249～251
[53]王永骥，涂健．神经元网络控制[M]．北京：机械工业出版社，1998
[54]张昌凡，王耀南．基于智能协调控制的滑模系统[J]．电子测量与仪器学报，2000，20(3)：1～3
[55]高为炳．变结构控制研究的发展与现状[J]．控制与决策，1993，8(4)：241～248
[56]Zhang Changfan, Wang Yaonan. Adaptive Fuzzy Sliding Mode Control for Induction Motor Drive[A]. The 4th ASIAN/PACIFIC International Symposium on Instrumentation, Meas-uremcnt & Automatic Control, 1999, 8: 135～137
[57]张昌凡，王耀南．神经网络滑模鲁棒控制器及其应用[J]．信息与控制，2001，30(3)：209～212
[58]任继平．国产多色凹印机制造业分析[J]．中国包装工业，2001，5：4～5
[59]许文才，智文广．现代印刷机械[M]．北京：印刷工业出版社，1999
[60]叶志方．凹印制版工艺品质保证方法及其措施[J]．今日印刷，2001，1：62～64
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