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结合广义预测控制(GPC)方法和PID反馈结构,设计了一种具有预测功能的PID控制器,PID参数根据未来时刻的预计输出误差进行整定.控制器导出多步控制序列,置于执行器端的延迟补偿器根据网络时延从控制序列中选择控制信息并作用于控制对象,从而对时延进行补偿,使控制性能得到极大改善.控制器结合了PID控制和预测控制的优点,具有较强的鲁棒性和工程意义.最后通过构造Lyapunov函数对闭环系统的稳定性进行了分析,并通过仿真验证了该算法的有效性.
Combining with the generalized predictive control (GPC) method and the PID feedback structure, a PID controller with predictive function is designed, and the PID parameters are adjusted according to the expected output error in the future.Controller derives multi-step control sequences and is placed on the actuator side The delay compensator selects the control information from the control sequence according to the network delay and acts on the control object so as to compensate the delay so that the control performance is greatly improved. The controller combines the advantages of PID control and predictive control with strong The robustness and engineering significance of the proposed method.Finally, the stability of closed-loop system is analyzed by constructing Lyapunov function, and the effectiveness of the algorithm is verified through simulation.