仿人智能PID控制

Zhuning Liu
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引用次数: 2

摘要

基于PID控制的简单性、鲁棒性和处理动力学非线性和不确定性的有效性,本文通过模拟人的手动控制的智能行为,仅利用现有的基本信息,引入了一个简单的公式来表示人的手动控制的先验知识和经验,并提出了一个简单实用的控制律,命名为仿人智能PID控制(HSI-PID)。以及具有明确物理意义的简单调优规则。hsii - pid控制不仅可以很容易地将专家控制的先验知识和经验融入到控制器中,而且可以从过去的控制行为中自动获取控制经验知识,在线修正控制动作。理论分析和仿真结果表明:HSI-PID控制具有更好的灵活性、更强的鲁棒性,特别是更快的自学习能力,无论被控系统是否具有较强的动力学非线性和不确定性,即使在不确定、变时和强扰动的作用下,也能使系统的运动完全跟踪期望响应。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Human-Simulating Intelligent PID Control
Motivated by PID control simplicity, robustness and validity to deal with the nonlinearity and uncertainties of dynamics, through simulating the intelligent behavior of human manual control, and only using the elementary information on hand, this paper introduces a simple formulation to represent prior knowledge and experiences of human manual control, and proposes a simple and practicable control law, named Human-Simulating Intelligent PID control (HSI-PID), and the simple tuning rules with the explicit physical meaning. HSI-PID control can not only easily incorporate prior knowledge and experiences of experts control into the controller but also automatically acquire knowledge of control experiences from the past control behavior to correct the control action online. The theoretical analysis and simulation results show that: HSI-PID control has the better flexibility, stronger robustness, and especially the faster self-learning ability, and it can make the motion of system identically track the desired response, whether the controlled system has the strong nonlinearity and uncertainties of dynamics or not, even under the actions of uncertain, varying-time and strong disturbances.
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