数值算法,用于对几乎没有约束的动作进行非线性补偿,用于对包括死区在内的动态系统的轨迹跟踪控制
Mohammad Moeen Ebrahimi1, Mohammad Reza Homaeinezhad1
1Faculty of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran.
ISA transactions
|July 30, 2024
概括
本研究介绍了一种新的控制算法,用于具有执行器死区和和的非线性系统. 该方法确保在操作限制下稳定的轨迹跟踪,提高控制系统性能.
科学领域:
- 控制系统工程 控制系统工程
- 非线性动力学是一种非线性动力学.
- 人工智能在控制中
背景情况:
- 现实世界的控制系统经常面临来自执行器非线性,包括死区和和的挑战.
- 准确的建模和控制系统的未知,非线性输入输出关系对于性能至关重要.
- 现有的控制策略可能会与死区约束和振荡式执行器动态的联合影响作斗争.
研究的目的:
- 为具有受约束执行器的非线性系统开发一个强大的控制算法,特别是解决死区效应.
- 为了使未知非线性执行器动力学和和限值的系统能够稳定地跟踪轨迹.
- 提高在严格的物理限制下运行的控制系统的适应性和性能.
主要方法:
- 实现一个神经网络,用于线下识别未知的非线性执行器动态.
- 开发一个受约束的轨迹跟踪机制,使其汇聚到所需的路径.
- 使用双模式 (位置和速度) 控制策略,并优化梯度下降以提高稳定性.
主要成果:
- 拟议的算法有效地管理控制输入中的死区和和约束.
- 实现了与主要轨迹相收的替代轨迹的稳定跟踪.
- 模拟结果证明了该算法的有效性,用于控制具有非线性振荡执行器的系统.
结论:
- 开发的控制策略为具有执行器限制的复杂非线性系统提供了强大的解决方案.
- 神经网络识别和双模式控制的整合提高了系统稳定性和跟踪精度.
- 这项研究为在受限制环境中的先进控制应用提供了有价值的方法.
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