磁支撑板的无模型控制

IF 5.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
P.M. Scherer , A. Othmane , J. Rudolph
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引用次数: 0

摘要

现有的基于模型的方法通常结合使用状态反馈和观测器来控制复杂系统。它们依赖于通常难以推导的详细数学模型。尽管如此,这些方法仍可达到很高的精度,这也证明了繁琐建模的合理性。另一种方法是由 Fliess 和 Join 提出的无模型控制法,即在短时间间隔内用一个带有未知部分的低阶微分方程(即所谓的超局部模型)来近似系统。这种控制方法是一种强大的工具,但参数化和具体实施可能需要时间、精力和经验。本文将磁支撑板模拟为不稳定的多输入多输出系统,研究如何系统地调整无模型控制器。此外,还研究了将模型信息纳入无模型控制器的问题。这些调整通过简化参数调整和对估计值的解释,最终改善了结果。我们在测试平台上进行了多次实验,以展示所提算法在设定点稳定和轨迹跟踪方面的能力。研究还探讨了无模型控制器中不同参数的影响,并证明了该控制器对执行器故障的卓越鲁棒性。使用开源工具箱设计了用于估计导数和未知量的滤波器。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Model-free control of a magnetically supported plate

Model-free control of a magnetically supported plate

Established model-based methods often use a combination of state feedback and observer to control complex systems. They rely on detailed mathematical models that are often hard to derive. Nonetheless, such methods may achieve a high level of accuracy, which justifies the cumbersome modelling. An alternative approach is model-free control, in a form introduced by Fliess and Join, where the system is approximated in a short time interval by a low-order differential equation with unknown parts, a so-called ultra-local model. This control method is a powerful tool, but the parametrisation and the concrete implementation may require time, effort, and experience. The present paper investigates the systematic tuning of a model-free controller for a magnetically supported plate that is modelled as an unstable multiple-input multiple-output system. Furthermore, the incorporation of model information into the model-free controller is investigated. These adaptations ultimately improve results by simplifying parameter tuning and interpretation of estimates. Several experiments are carried out on a test bed to show the capabilities of the proposed algorithms for set point stabilisation and trajectory tracking. The effects of the different parameters in the model-free controllers are addressed, and excellent robustness with respect to actuator faults is demonstrated. Filters for estimating derivatives and unknown quantities are designed using an open-source toolbox.

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来源期刊
Control Engineering Practice
Control Engineering Practice 工程技术-工程:电子与电气
CiteScore
9.20
自引率
12.20%
发文量
183
审稿时长
44 days
期刊介绍: Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.
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