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id="tpnrxl7j" class="title"> <h3><a>解耦控制策略<small></small></a></h3> </div> <!-- 頁面標題結束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div id="tpnrxl7j" class="container"> <!-- 正文 --> <div id="tpnrxl7j" class="lead" id="print"> <p> <a name="bookmark4" style="line-height: 13pt; text-align: justify; background-color: transparent;"><span id="tpnrxl7j" class="20"><span style="font-family: SimSun;">1.4</span></span></a><span id="tpnrxl7j" 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="tpnrxl7j" class="2">在工程中如果被控系統中存在了耦合因素，對被控系統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="tpnrxl7j" class="2">存在著耦合的被控系統，由于各個子系統不能拆開單獨考慮，所以子系統的 參數整定要進行許多次，但往往也很難找到一組滿意的整定數據。</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="tpnrxl7j" class="2">存在耦合的系統，對其控制器設計與結構分析相比于非耦合系統所要求的相 關信息和數據要多出許多。</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="tpnrxl7j" class="2">從理論上來講被解耦后的個獨立系統可以采用已經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進行解耦。尤其是在變量參數繁多 的情況下，實際中很難設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="tpnrxl7j" class="2">解耦后的獨立系統控制器按照性能指標要求對其內部的參數進行整定，然而 針對耦合系統，由于相關聯的因素很多，控制器隨時進行參數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="tpnrxl7j" class="2">線性解耦控制需要被控系統精確的數學傳遞函數，通過串聯互補矩陣將耦合系統 傳遞函數矩陣的非對角線元素轉化為零，從而達到解耦的目的。近年來隨著智能控制 技術的飛躍發展，人們發現智能控制也可以應用到解耦控制中。其優點為不必明確知 道精確的系統數學表達式，從而解決了線性解耦的不足。智能解耦尤以神經網絡、逆 系統解耦為代表<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="tpnrxl7j" class="2">模糊神經網絡解耦：模糊控制器的突出優點在于其對參數的變化不敏感，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計方法首先需要知道專家的 經驗以及制定模糊控制規則，但是要得到模糊控制器的模糊規則是很不容易的。在一 些條件下，所得到的只是大量控制器反饋回來的數據，而并不全部都是模糊控制規則 所需要的數據，因此需要對全部的數據進行萃取出能夠滿足</span><span id="tpnrxl7j" class="2"><span style="font-family: SimSun;">“</span></span><span id="tpnrxl7j" class="2TimesNewRoman26"><span lang="EN-US" style="font-size: 11.5pt;">if</span></span><span id="tpnrxl7j" class="2"><span style="font-family: SimSun;">-</span></span><span id="tpnrxl7j" class="2TimesNewRoman26"><span lang="EN-US" style="font-size: 11.5pt;">then</span></span><span id="tpnrxl7j" class="2"><span style="font-family: SimSun;">”</span></span><span id="tpnrxl7j" class="2">語句的規則。 由于神經網絡系統擁有對非線性系統的映射功能，擁有較強的自主學習和適應未知系 統的功能，所以采用神經網絡系統可以提取出模糊控制器中不易得出的模糊規則，從 而實現了對復雜非線性耦合系統的解耦<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="tpnrxl7j" class="2">文獻</span><span id="tpnrxl7j" class="2"><span style="font-family: SimSun;">[19]</span></span><span id="tpnrxl7j" 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設計了模糊</span><span id="tpnrxl7j" class="2TimesNewRoman26"><span lang="EN-US" style="font-size: 11.5pt;">PID</span></span><span id="tpnrxl7j" class="2">控制器。實驗結果表 明：磁懸浮平臺對于階躍響應的超調量很小，大約為百分之六，上升時間大約為</span><span id="tpnrxl7j" class="2"><span style="font-family: SimSun;">0.1 </span></span><span id="tpnrxl7j" class="2">秒，穩態誤差大約為百分之二；當懸浮平臺受到干擾偏移</span><span id="tpnrxl7j" class="2"><span style="font-family: SimSun;">0.2</span></span><span id="tpnrxl7j" class="2">毫米時，系統能很快回 到設定的位置，這表明控制器使懸浮系統具有了良好的魯棒性和高剛度特性。文獻</span><span id="tpnrxl7j" class="2"><span style="font-family: SimSun;">[20] </span></span><span id="tpnrxl7j" class="2">研究了磁懸浮列車懸浮在軌道上產生的耦合情況。采用了非線性的解耦方法，對單電 磁懸浮系統的縱向耦合進行了解耦，并對解耦后的獨立系統配置了新的極點，使其獲 得滿意的性能。仿真結果表明了該方法可以有效地簡化復雜問題，并且實現了系統的 全局穩定性和優越的動態性能。</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="tpnrxl7j" class="2">逆系統解耦：逆系統分為兩種，一種是左逆系統，另一種是右逆系統。左逆系統 研究對象是系統輸入的觀測問題，右逆系統研究的對象是系統的輸出觀測問題。一般 我們只討論左逆系統。通過求解被控系統的逆系統，然后將求解得到的逆系統串聯在 被控系統前，逆系統將被控系統轉化成了偽線性系統。偽線性系統是指非線性系統具 備了線性系統的特征，但其本質仍然是非線性的。串聯逆系統后的耦合系統會被解耦 成多個</span><span id="tpnrxl7j" class="2TimesNewRoman26"><span lang="EN-US" style="font-size: 11.5pt;">SISO</span></span><span id="tpnrxl7j" class="2">的偽線性系統，由于非線性系統具有了線性系統的特征，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的逆系統非常困難，因 此需要利用一些算法求得非線性系統的逆系統。文獻</span><span id="tpnrxl7j" class="2"><span style="font-family: SimSun;">[21]</span></span><span id="tpnrxl7j" class="2">利用模糊神經網絡的泛化和 擬合能力來模擬出發酵系統的非線性逆模型。文獻</span><span id="tpnrxl7j" class="2"><span style="font-family: SimSun;">[22]</span></span><span id="tpnrxl7j" 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。</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“數控加工中心龍門磁懸浮系統耦合分析及控制研究”，因為編輯困難導致有些函數、表格、圖片、內容無法顯示，有需要者可以在網絡中查找相關文章！本文由伯特利數控整理發表文章均來自網絡僅供學習參考，轉載請注明！</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="tpnrxl7j" class="blank30"></div> <!-- tag --> <div id="tpnrxl7j" 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="tpnrxl7j" class="blank10"></div> 分類： <a 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