Thiết kế bộ điều khiển học cải tiến dựa trên sai số phản hồi cho thiết bị chấp hành hợp kim nhớ hình dạng SMA sử dụng mô hình lai nơrôn-tiến hóa

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Tác giả: Phạm Huy Ánh Hồ, Thế Vinh Lưu, Duy Khanh Nguyễn, Ngọc Sơn Nguyễn

Ngôn ngữ: vie

Ký hiệu phân loại:

Thông tin xuất bản: Chuyên san Đo lường, Điều khiển và Tự động hóa, 2020

Mô tả vật lý: tr.37-44

Bộ sưu tập: Metadata

ID: 273805

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In this paper, a modified feedback error learning approach (called MFEL) is proposed for a nonlinear system. In MFEL, an inverse evolutionary neural (IEN) model that dynamically identifies offline all nonlinear features of the nonlinear system, provides the initial value of afeedforward compensator. A PID feedback control is combined with a feedforward compensator to eliminate the steady-state error and guarantee the global asymptotic stability of the overall system. The learning is based on the feedback error signal is employed. An adaptive backpropagation (aBP) with self-adaptive learning rate based Sugeno Fuzzy logic is developed and employed in the MFEL to adapt well todisturbances and dynamic variations in its operation. To prove the effectiveness of the proposed MFEL controller, first, the benchmarknonlinear SISO system is used to evaluate the controller. Then, the experimental shape memory alloys (SMA) actuator is set up to test thecontroller. The simulation and experimental results proved that the proposed controller provides better results compared to the feedbackcontrol.Trong bài báo này, bộ điều khiển học cải tiến dựa trên thông tin saisố phản hồi (gọi tắt MFEL)đượcđề xuất cho hệ phi tuyến. TrongMFEL, môhìnhlainơrôn - tiến hóa được sử dụngđể nhận dạngoffline đặctínhđộng họcngược của hệ phi tuyến,vàsauđóđượcdùng để khởi tạo các trọng số của bộ điều khiển thuận. Bộ điều khiểnPIDđược cộng với bộ điều khiển thuận nhằm giảm sai số và đảmbảo ổnđịnh tiệm cận toàn cục. Tín hiệu ra của bộ điều khiển PIDđượcxemnhưlàsaisố họcvàđược sử dụngđể chỉnhđịnh online bộđiều khiển thuận dựa trên thuật toán lan truyềnngược tự thích nghihệ số học (gọi tắt aBP) dựa vào mô hình mờ Sugeno. Việc học onlinenày nhằm giúp MFEL thích nghi tốt với nhiễuđộng và cácthayđổitrong quá trình hệ thống hoạtđộng.Để chứng minh hiệu quả củaMFEL,đầu tiên, hệ phi tuyến SISO chuẩnđược dùng để kiểm chứng.Sauđó, thiết bị chấp hành thực nghiệmdùngSMAđược thiết lập đểkiểm chứng. Các kết quả mô phỏng và thực nghiệm đã chứng tỏ chấtlượngvượt trội của MFEL so với bộ điều khiển phản hồi PID.

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1. Đọc trực tuyến

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