Samoorganizirajuće neizrazito upravljanje sustavima s referentnim modelom : doktorska disertacija - Bogdan, Stjepan; Crnošija, Petar (Zagreb : S. Bogdan ; Fakultet elektrotehnike i računarstva, 1999)
U ovoj disertaciji obuhvaćeni su rezultati istraživanja novih metoda samoorganiziranja te postupaka sinteze parametara neizrazitog regulatora predviđenog za upravljanje sustavima višeg reda nepoznate strukture. Određeni su zahtjevi, koje moraju zadovoljiti sustavi upravljanja za koje su razvijeni samoorganizirajući algoritmi neizrazitog upravljanja.
Dane su definicije osnovnih pojmova potrebnih za projektiranje neizrazitih regulatora te je opisana struktura neizrazitog regulatora. Dan je kvalitativan opis djelovanja pojedinog parametra na ponašanje neizrazitog regulatora.
Opisana su i eksperimentalno provjerena tri postupka početnog podešenja neizrazitog regulatora zasnovana na referentnom modelu, emulaciji standardnih regulatora i praćenju trajektorije signala razlike i signala upravljanja. Postupci su pogodni za automatiziranu sintezu neizrazitog regulatora prije samog procesa samoorganiziranja.
Dan je pregled metoda samoorganiziranja s naglaskom na one metode, koje se odnose na samoorganiziranje baze neizrazitih pravila.
Razrađena je i eksperimentalno provjerena metoda samoorganiziranja neizrazitog regulatora, koja se zasniva na polinomu pogreške slijeđenja referentnog modela drugog reda. Analiza stabilnosti neizrazitog sustava po Lyapunovu dala je kriterij, koji upravljačka površina neizrazitog regulatora mora zadovoljiti da bi sustav bio stabilan. Stabilnost predložene metode samoorganiziranja provjerena je Hurwitzovim kriterijem, kojim se mogu odrediti granice parametara mehanizma samoorganiziranja u kojima će sustav biti stabilan. Postupak samoorganiziranja zasnovanog na polinomu pogreške slijeđenja pogodan je za sustave s manje izraženim nelinearnostima.
Dan je prikaz teorije osjetljivosti s naglaskom na dijelove teorije, koji su osnova izvoda samoorganizirajućeg neizrazitog regulatora zasnovanog na referentnom modelu i modelu osjetljivosti.
Razvijena je metoda samoorganiziranja neizrazitog regulatora, koja se zasniva na referentnom modelu i modelu osjetljivosti. Definirana je struktura neizrazitog regulatora, koja je pogodna za određivanje modela osjetljivosti izlazne veličine u odnosu na parametre baze neizrazitih pravila. Učinkovitost opisane metode eksperimentalno je provjerena na izrazito nelinearnim sustavima, koji su sadržavali nelinearnosti tipa zračnost, trenje i nelinearno opterećenje.
Opisan je postupak povećanja robusnosti samoorganizirajućeg neizrazitog regulatora dodavanjem algoritma učenja integralnog koeficijenta pojačanja.
Sve opisane metode ispitane su simulacijom na računalu i provjerom na više eksperimentalnih sustava upravljanja uz korištenje osobnog računala i dodatnih modula za njihovu implementaciju.
Ključne riječi: inteligentni sustavi upravljanja, neizrazito upravljanje, samoorganizirajuće neizrazito upravljanje, slijedni sustavi, model osjetljivosti, upravljanje s referentnim modelom
This dissertation presents the results of investigating the new self-organization methods and procedures for synthesis of fuzzy controller parameters intended for control of high-order systems with unknown structure. The requirements that must be fulfilled by the systems considered for self-organizing fuzzy control have been determined.
The fuzzy controller structure and definitions of basic terms associated with the design of fuzzy controller have been given. A qualitative description of impact of each parameter on the fuzzy controller behaviour is given too.
Three procedures of initial setting of fuzzy controller parameters based on the reference model, emulation of standard controllers and observation of control error and control output trajectories have been described and experimentally verified. These procedures are convenient for automated synthesis of the fuzzy controller prior to the start of self-organization.
A review of self-organizing methods has been made including those methods which are concerned with self-organization of a fuzzy rule base.
A method for self-organization of the fuzzy controller based on the second-order reference model tracking error polynomial is elaborated and experimentally tested. Stability analysis based on the Lyapunov approach has resulted in the criterium, which fuzzy controller control surface must fulfil to preserve the system stability. The Hurwitz criterium has been used for testing the stability of the proposed self-organization method thus giving the range of self-organization mechanism parameters which would preserve the system stability. The self- organizing method based on the tracking error polynomial is suitable for control of slightly nonlinear systems.
A review of sensitivity theory relevant for derivation of a self-organizing fuzzy controller algorithm based on the reference model and sensitivity model has been given.
A method for self-organization of the fuzzy controller based on the reference model and the sensitivity model has been developed. A structure of the fuzzy controller is determined, which is suitable for determination of the sensitivity model. The sensitivity model describes influence of fuzzy rule base parameters on the system output. The effectiveness of the method has been tested experimentally on the testbeds of nonlinear systems containing nonlinearities such as backlash, friction and nonlinear load.
A procedure for robustness improvement of the self-organizing fuzzy controller by adding an additional algorithm for learning of the integral gain coefficient is described.
The proposed methods have been verified by computer simulations and tested experimentally on several testbeds using personal computer and additional modules for their implementation.
Keywords: intelligent control systems, fuzzy logic control, self-organizing fuzzy control, servo systems, sensitivity model, model reference control
Bibliografija str. 141-157.