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href="/bethel/news">數(shù)控文章</a></li> </ol> </nav> </div> <!--/sub_menu--><!-- 面包屑導航結(jié)束 --> <!-- 頁面標題開始 --> <div id="n1l1njb9b" class="title"> <h3><a>解耦控制策略<small></small></a></h3> </div> <!-- 頁面標題結(jié)束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div id="n1l1njb9b" class="container"> <!-- 正文 --> <div id="n1l1njb9b" class="lead" id="print"> <p> <a name="bookmark4" style="line-height: 13pt; text-align: justify; background-color: transparent;"><span id="n1l1njb9b" class="20"><span style="font-family: SimSun;">1.4</span></span></a><span id="n1l1njb9b" class="20" style="line-height: 13pt; text-align: justify; background-color: transparent;">解耦控制策略</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:27.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"><span id="n1l1njb9b" class="2">在工程中如果被控系統(tǒng)中存在了耦合因素，對被控系統(tǒng)的控制通常會遇到如下幾 種情形：</span></p> <p class="21" style="margin:0cm;margin-bottom:.0001pt;text-align:justify; text-justify:inter-ideograph;text-indent:27.0pt;line-height:23.3pt;mso-line-height-rule: exactly;mso-list:l0 level1 lfo1;tab-stops:45.65pt;background:transparent"><!--[if !supportLists]--><span style="font-family: SimSun;">(1)<span style="font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';"> </span></span><!--[endif]--><span id="n1l1njb9b" class="2">存在著耦合的被控系統(tǒng)，由于各個子系統(tǒng)不能拆開單獨考慮，所以子系統(tǒng)的 參數(shù)整定要進行許多次，但往往也很難找到一組滿意的整定數(shù)據(jù)。</span></p> <p class="21" style="margin:0cm;margin-bottom:.0001pt;text-align:justify; text-justify:inter-ideograph;text-indent:27.0pt;line-height:23.3pt;mso-line-height-rule: exactly;mso-list:l0 level1 lfo1;tab-stops:45.65pt;background:transparent"><!--[if !supportLists]--><span style="font-family: SimSun;">(2)<span style="font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';"> </span></span><!--[endif]--><span id="n1l1njb9b" class="2">存在耦合的系統(tǒng)，對其控制器設(shè)計與結(jié)構(gòu)分析相比于非耦合系統(tǒng)所要求的相 關(guān)信息和數(shù)據(jù)要多出許多。</span></p> <p class="21" style="margin:0cm;margin-bottom:.0001pt;text-align:justify; text-justify:inter-ideograph;text-indent:27.0pt;line-height:23.3pt;mso-line-height-rule: exactly;mso-list:l0 level1 lfo1;tab-stops:45.65pt;background:transparent"><!--[if !supportLists]--><span style="font-family: SimSun;">(3)<span style="font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';"> </span></span><!--[endif]--><span id="n1l1njb9b" class="2">從理論上來講被解耦后的個獨立系統(tǒng)可以采用已經(jīng)成熟的控制器對其進行控 制。但至今也沒找到一種簡單方便方法對耦合系統(tǒng)進行解耦。尤其是在變量參數(shù)繁多 的情況下，實際中很難設(shè)計出精確解耦控制器。</span></p> <p class="21" style="margin:0cm;margin-bottom:.0001pt;text-align:justify; text-justify:inter-ideograph;text-indent:27.0pt;line-height:23.3pt;mso-line-height-rule: exactly;mso-list:l0 level1 lfo1;tab-stops:45.9pt;background:transparent"><!--[if !supportLists]--><span style="font-family: SimSun;">(4)<span style="font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';"> </span></span><!--[endif]--><span id="n1l1njb9b" class="2">解耦后的獨立系統(tǒng)控制器按照性能指標要求對其內(nèi)部的參數(shù)進行整定，然而 針對耦合系統(tǒng)，由于相關(guān)聯(lián)的因素很多，控制器隨時進行參數(shù)整定是非常不容易的。</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:27.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"><span id="n1l1njb9b" class="2">線性解耦控制需要被控系統(tǒng)精確的數(shù)學傳遞函數(shù)，通過串聯(lián)互補矩陣將耦合系統(tǒng) 傳遞函數(shù)矩陣的非對角線元素轉(zhuǎn)化為零，從而達到解耦的目的。近年來隨著智能控制 技術(shù)的飛躍發(fā)展，人們發(fā)現(xiàn)智能控制也可以應(yīng)用到解耦控制中。其優(yōu)點為不必明確知 道精確的系統(tǒng)數(shù)學表達式，從而解決了線性解耦的不足。智能解耦尤以神經(jīng)網(wǎng)絡(luò)、逆 系統(tǒng)解耦為代表<sup>[16</sup>_<sup>17]</sup>。</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"><span id="n1l1njb9b" class="2">模糊神經(jīng)網(wǎng)絡(luò)解耦：模糊控制器的突出優(yōu)點在于其對參數(shù)的變化不敏感，因此模 糊控制算法可以被用在解耦控制中。但是模糊控制器的設(shè)計方法首先需要知道專家的 經(jīng)驗以及制定模糊控制規(guī)則，但是要得到模糊控制器的模糊規(guī)則是很不容易的。在一 些條件下，所得到的只是大量控制器反饋回來的數(shù)據(jù)，而并不全部都是模糊控制規(guī)則 所需要的數(shù)據(jù)，因此需要對全部的數(shù)據(jù)進行萃取出能夠滿足</span><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">“</span></span><span id="n1l1njb9b" class="2TimesNewRoman26"><span lang="EN-US" style="font-size: 11.5pt;">if</span></span><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">-</span></span><span id="n1l1njb9b" class="2TimesNewRoman26"><span lang="EN-US" style="font-size: 11.5pt;">then</span></span><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">”</span></span><span id="n1l1njb9b" class="2">語句的規(guī)則。 由于神經(jīng)網(wǎng)絡(luò)系統(tǒng)擁有對非線性系統(tǒng)的映射功能，擁有較強的自主學習和適應(yīng)未知系 統(tǒng)的功能，所以采用神經(jīng)網(wǎng)絡(luò)系統(tǒng)可以提取出模糊控制器中不易得出的模糊規(guī)則，從 而實現(xiàn)了對復雜非線性耦合系統(tǒng)的解耦<sup>[18]</sup>。</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"><span id="n1l1njb9b" class="2">文獻</span><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">[19]</span></span><span id="n1l1njb9b" class="2">采用了空間變量變換的方法對磁懸浮平臺進行解耦，實現(xiàn)了對耦合平臺 的三自由度解耦，并對解耦后的單電磁懸浮系統(tǒng)設(shè)計了模糊</span><span id="n1l1njb9b" class="2TimesNewRoman26"><span lang="EN-US" style="font-size: 11.5pt;">PID</span></span><span id="n1l1njb9b" class="2">控制器。實驗結(jié)果表 明：磁懸浮平臺對于階躍響應(yīng)的超調(diào)量很小，大約為百分之六，上升時間大約為</span><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">0.1 </span></span><span id="n1l1njb9b" class="2">秒，穩(wěn)態(tài)誤差大約為百分之二；當懸浮平臺受到干擾偏移</span><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">0.2</span></span><span id="n1l1njb9b" class="2">毫米時，系統(tǒng)能很快回 到設(shè)定的位置，這表明控制器使懸浮系統(tǒng)具有了良好的魯棒性和高剛度特性。文獻</span><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">[20] </span></span><span id="n1l1njb9b" class="2">研究了磁懸浮列車懸浮在軌道上產(chǎn)生的耦合情況。采用了非線性的解耦方法，對單電 磁懸浮系統(tǒng)的縱向耦合進行了解耦，并對解耦后的獨立系統(tǒng)配置了新的極點，使其獲 得滿意的性能。仿真結(jié)果表明了該方法可以有效地簡化復雜問題，并且實現(xiàn)了系統(tǒng)的 全局穩(wěn)定性和優(yōu)越的動態(tài)性能。</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"><span id="n1l1njb9b" class="2">逆系統(tǒng)解耦：逆系統(tǒng)分為兩種，一種是左逆系統(tǒng)，另一種是右逆系統(tǒng)。左逆系統(tǒng) 研究對象是系統(tǒng)輸入的觀測問題，右逆系統(tǒng)研究的對象是系統(tǒng)的輸出觀測問題。一般 我們只討論左逆系統(tǒng)。通過求解被控系統(tǒng)的逆系統(tǒng)，然后將求解得到的逆系統(tǒng)串聯(lián)在 被控系統(tǒng)前，逆系統(tǒng)將被控系統(tǒng)轉(zhuǎn)化成了偽線性系統(tǒng)。偽線性系統(tǒng)是指非線性系統(tǒng)具 備了線性系統(tǒng)的特征，但其本質(zhì)仍然是非線性的。串聯(lián)逆系統(tǒng)后的耦合系統(tǒng)會被解耦 成多個</span><span id="n1l1njb9b" class="2TimesNewRoman26"><span lang="EN-US" style="font-size: 11.5pt;">SISO</span></span><span id="n1l1njb9b" class="2">的偽線性系統(tǒng)，由于非線性系統(tǒng)具有了線性系統(tǒng)的特征，因此對于工程 上來說降低了控制難度和控制成本。由于想要得到非線性系統(tǒng)的逆系統(tǒng)非常困難，因 此需要利用一些算法求得非線性系統(tǒng)的逆系統(tǒng)。文獻</span><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">[21]</span></span><span id="n1l1njb9b" class="2">利用模糊神經(jīng)網(wǎng)絡(luò)的泛化和 擬合能力來模擬出發(fā)酵系統(tǒng)的非線性逆模型。文獻</span><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">[22]</span></span><span id="n1l1njb9b" class="2">利用支持向量機非線性回歸功 能逼近兩個耦合電機的逆系統(tǒng)。</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"> </p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"> </p> <p class="MsoNormal"><span style="font-size:9.0pt;font-family:宋體;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">本文采摘自“數(shù)控加工中心龍門磁懸浮系統(tǒng)耦合分析及控制研究”，因為編輯困難導致有些函數(shù)、表格、圖片、內(nèi)容無法顯示，有需要者可以在網(wǎng)絡(luò)中查找相關(guān)文章！本文由伯特利數(shù)控整理發(fā)表文章均來自網(wǎng)絡(luò)僅供學習參考，轉(zhuǎn)載請注明！</span><span lang="EN-US" style="font-size:9.0pt"> </span><span lang="EN-US" style="font-size:9.0pt"> <o:p></o:p></span></p></div> <div id="n1l1njb9b" class="blank30"></div> <!-- tag --> <div id="n1l1njb9b" class="blank10"></div> 標簽： <a href='/index.php?case=tag&act=show&tag=%E9%BE%99%E9%97%A8%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>龍門加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>數(shù)控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <!-- 分類 --> <div id="n1l1njb9b" class="blank10"></div> 分類： <a 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