对称双线性系统的在线修正参数预测滤波PID控制

摘要

在双线性系统中加入控制输出的符号函数，建立了可描述对称非线性系统的对称双线性系统。采用可克服算法病态的遗忘因子递推最小二乘算法对被控对象进行参数估计，利用自校正预报显式算法对系统输出进行预测，基于具有预测控制性能的增量型预测滤波PID控制算法，根据可克服算法病态的直接极小化指标函数自适应控制算法和Robbins－Monro算法，给出了具有在线修正PID控制参数和加快PID控制参数收敛性能的对称双线性系统的自适应预测滤波PID控制算法。仿真结果表明改进的PID控制算法具有预测控制性能和在线修正参数性能，系统具有较好的控制品质。%A symmetric bilinear system is developed, which can be used to describe the symmetric nonlinear system by adding a sign function into the bilinear system. The parameters of the controlled model are estimated by employing the multi-variable ill-solvable forgetting factor recursive least squares algorithm. The system output is predicted by using the self-tuning prediction explicit algorithm. Based on the gain prognosis-control prognosis-filtering PID algorithm, the self-adaptive ill-solvable control algorithm and the Robbins-Monro algorithm, the self-adaptive prognosis-filtering fast-convergence PID control algorithm with on-line modifying parameter for symmetric bilinear system is presented. The simulative results show that the modified PID control algorithm has the properties of predicting-controlling and on-line modifying parameters and the system has superior control characteristics.