基于去伪控制的 PID 自适应参数调节

摘要

Traditional robust control and adaptive control are based on the accurate models .They can only control the systems with small enough or constant uncertainty .An unfalsified control based on the data driving is proposed to overcome the shortcoming,which is one type of model-free adaptive control .The proposed method is data-driven and doesn ’ t rely on system model .The designed controller is simple and is highly adaptable to online application .In this paper,the basic theory of unfalsified control is introduced and applied to real-time PID controller parameter tuning and adaptation .Simulation is also conducted when there is disturbance with the system .The result shows that the algorithm is actually fairly robust to noise and perturbation .The feasibility and effectiveness of this algorithm are also proved by the simulation result .%针对传统的鲁棒控制和自适应控制都是基于精确模型的控制设计思想，仅仅能够实现对含有足够小的或者恒定不确定性的系统进行控制的弱点，提出了一种基于数据的无模型自适应控制方法---去伪控制。该方法只需利用采集的数据，不依赖于系统模型，所设计的控制器形式简单，适合实时在线应用。介绍了该控制方法的基本理论，将其应用到实时PID参数自适应调节上，并在系统有干扰的情况下进行了仿真研究。仿真结果表明，该算法在系统扰动的情况下具有很好的鲁棒性，研究结果表明了该控制方法的可行性和有效性。