智能控制技術與應用案例設計

第 1 章 緒論 ···································································································1
1.1 智能控制的提出與發展 ·············································································1
1.1.1 智能控制的提出··············································································1
1.1.2 智能控制的發展··············································································3
1.2 智能控制的主要研究內容 ··········································································3
1.2.1 專家控制·······················································································4
1.2.2 模糊控制·······················································································4
1.2.3 神經網絡控制·················································································5
1.2.4 自適應控制····················································································6
1.2.5 生物啟發算法·················································································7
1.3 智能控制的研究對象、性能及特點 ······························································8
1.3.1 智能控制的研究對象 ·······································································8
1.3.2 智能控制系統的性能及特點 ······························································8
第 2 章 模糊控制 ··························································································.10
2.1 模糊理論概述·······················································································.10
2.1.1 模糊理論問題的引入 ····································································.10
2.1.2 模糊理論問題的發展 ····································································.10
2.1.3 模糊理論的應用領域 ····································································.11
2.2 模糊控制和模糊 PID 控制 ·······································································.12
2.2.1 模糊控制····················································································.12
2.2.2 模糊控制系統··············································································.13
2.2.3 模糊 PID 控制 ·············································································.14
2.2.4 模糊 PID 控制器的設計過程 ···························································.16
2.3 2.4 基於 Matlab 的模糊控制器設計 ································································.23
模糊 PID 工程實驗 ················································································.26
2.4.1 換熱器模糊 PID 控制實驗目的 ························································.26
2.4.2 換熱器模糊 PID 控制實驗要求 ························································.26
2.4.3 換熱器模糊 PID 控制實驗設備 ························································.26
2.4.4 換熱器模糊 PID 控制實驗內容 ························································.27
2.4.5 換熱器模糊 PID 控制實驗結論 ························································.39
2.5 模糊控制的適用範圍及研究意義 ······························································.40
第 3 章 基於自適應方法的非線性控制系統設計與實現 ··········································.42
3.1 自校正控制系統····················································································.42
3.2 李雅普諾夫穩定性定理 ··········································································.45
3.2.1 李雅普諾夫意義下的穩定性 ···························································.45
3.2.2 函數的正定性··············································································.46
3.2.3 李雅普諾夫穩定性定理內容 ···························································.46
3.3 一類非線性動態的自適應控制與穩定性 ·····················································.48
3.3.1 問題描述····················································································.48
3.3.2 統一的維納結構···········································································.49
3.3.3 非線性動態過程建模中的簡化維納結構 ············································.51
3.3.4 自適應控制設計與參數估計 ···························································.52
3.3.5 跟蹤性能及穩定性分析 ·································································.54
3.3.6 仿真實例····················································································.56
3.4 最小方差調節器和最小方差自校正調節器設計 ············································.65
3.5 自適應控制的適用範圍及研究意義 ···························································.68
第 4 章 基於神經網絡的流程工業過程建模 ·························································.70
4.1 普通神經網絡與線性系統辨識的關系 ························································.70
4.1.1 問題描述····················································································.70
4.1.2 基礎理論····················································································.72
4.1.3 NN2TF 算法················································································.75
4.2 循環神經網絡在過程建模中的應用 ···························································.78
4.2.1 問題描述····················································································.78
4.2.2 模型介紹····················································································.81
4.2.3 DRNN 辨識模型的學習算法 ···························································.87
4.2.4 基於李雅普諾夫穩定性方法的自適應學習率推導 ································.88
4.3 GRU 神經網絡在非線性動態過程建模中的應用 ···········································.91
4.3.1 GRU 神經網絡概述 ······································································.91
4.3.2 基於 GRU 神經網絡的過程建模·······················································.91
4.4 神經網絡的適用範圍及研究意義 ····························································.105
第 5 章 基於生物啟發算法的辨識與控制優化 ······················································106
5.1 遺傳算法介紹·····················································································.106
5.1.1 遺傳算法概念、特點及應用 ·························································.106
5.1.2 遺傳算法的基本流程及實現技術 ···················································.107
5.2 群智能搜索在系統辨識中的典型應用 ······················································.108
5.2.1 問題描述··················································································.108
5.2.2 基礎理論··················································································.109
5.2.3 基於群智能的疊代辨識 ·································································111
5.2.4 仿真實例····················································································115
5.3 生物啟發算法的適用範圍及研究意義 ······················································.121
第 6 章 專家控制系統 ····················································································123
6.1 專家系統···························································································.123
6.1.1 專家系統定義············································································.123
6.1.2 專家系統構造············································································.123
6.1.3 專家系統實現方式······································································.124
6.1.4 專家系統工作過程······································································.124
6.1.5 基於專家系統的自整定 PID 控制器 ················································.125
6.2 專家控制系統介紹 ··············································································.128
6.2.1 直接專家控制系統······································································.128
6.2.2 間接專家控制系統······································································.129
6.2.3 專家 PID 控制 ···········································································.130
6.3 專家控制系統的適用範圍及研究意義 ······················································.131
參考文獻······································································································132