CAJ | 학술논문

针对非线性、多变量、强耦合系统的控制问题，提出一种基于双曲函数的非线性PID自学习控制方法。在PID控制过程中，用双曲函数构造比例、积分、微分3个增益参数分别随误差变化的规律曲线，将传统线性PID控制律转化为非线性PID控制律的控制思想，并使用自学习算法实时调整3个非线性增益函数的增益系数，实现基于双曲函数的非线性PID自学习控制。仿真实验结果表明，与其他控制方法相比，该方法具有更强的鲁棒稳定性和抗扰动能力，是一种有效的控制方法，在非线性控制领域具有重要的应用价值。
침대비선성、다변량、강우합계통적공제문제，제출일충기우쌍곡함수적비선성PID자학습공제방법。재PID공제과정중，용쌍곡함수구조비례、적분、미분3개증익삼수분별수오차변화적규률곡선，장전통선성PID공제률전화위비선성PID공제률적공제사상，병사용자학습산법실시조정3개비선성증익함수적증익계수，실현기우쌍곡함수적비선성PID자학습공제。방진실험결과표명，여기타공제방법상비，해방법구유경강적로봉은정성화항우동능력，시일충유효적공제방법，재비선성공제영역구유중요적응용개치。
Aiming at nonlinear,multivariable,strong coupling system control problem,a nonlinear PID control method for self-learning based on hyperbolic function is proposed. Due to the process in PID controlling,it forms a consensus in the control field that the curves of proportional,integral,differential three gain parameters following error changes. Thus, this method uses hyperbolic function to construct the rule curves of PID three gain parameters following error changes, which puts forward a control theory about making the traditional linear PID control law into nonlinear PID control law, and uses self-learning algorithm to adjust the three nonlinear gain function coefficients in real time. The self-learning control on nonlinear PID is implemented based on the hyperbolic function. Compared with other controlling methods,the simulation results show that the approach achieves a better robust stability and anti-disturbance capacity, which is an effective control method and has important application value in the nonlinear control filed.