自适应控制设计
设计能够适应不断变化的过程信息的控制器
如果控制系统包含随时间变化的不确定性,如未建模的系统动态特性和扰动,则自适应控制器可以通过实时调整其参数来补偿变化的过程信息。通过执行此操作,此类控制器可以实现期望的参考跟踪,即使被控对象动态中存在不确定性也是如此。
Simulink® Control Design™ 软件为计算控制器参数提供了以下实时自适应控制方法。
Extremum Seeking Control - 无模型自适应,用于最大化从控制系统派生的目标函数
Model Reference Adaptive Control - 基于模型的自适应,用于跟踪已知参考模型的输出
自抗扰控制 - 无模型自适应,用于拒绝被控对象的内部和外部扰动
模块
Extremum Seeking Control | Compute controller parameters in real time by maximizing objective function (自 R2021a 起) |
Model Reference Adaptive Control | Compute control actions to make controlled system track reference model (自 R2021b 起) |
Active Disturbance Rejection Control | 为具有未知动态特性和扰动的被控对象设计控制器 (自 R2022b 起) |
主题
极值搜索控制
- Extremum Seeking Control
Update controller parameters to maximize an objective function in the presence of unknown system dynamics. - Extremum Seeking Control for Reference Model Tracking of Uncertain Systems
Track a reference plant model by adapting feedforward and feedback gains for an uncertain dynamical system. - Anti-Lock Braking Using Extremum Seeking Control
Design an extremum seeking controller that maximizes the friction coefficient of an ABS system to achieve the shortest stopping distance.
模型参考自适应控制
- Model Reference Adaptive Control
Compute control actions to make an uncertain controlled system track the behavior of a given reference plant model. - Model Reference Adaptive Control of Satellite Spin
Design an MRAC controller that adapts plant uncertainty model parameters to achieve performance that matches an ideal reference model. - Indirect Model Reference Adaptive Control of First-Order System
Design an indirect MRAC controller that estimates the properties of an unknown first-order system. - Indirect MRAC Control of Mass-Spring-Damper System
Design an indirect MRAC controller that estimates the parameters of an unknown MIMO system.
自抗扰控制
- 自抗扰控制
为具有未知动态特性和扰动的被控对象设计抗扰控制器。 - Design Active Disturbance Rejection Control for Water-Tank System
Design ADRC for a water-tank model and compare performance against a gain-scheduled PID controller. - Design Active Disturbance Rejection Control for BLDC Speed Control Using PWM
Design ADRC for a brushless DC motor speed controller using pulse width modulation.