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Research on control algorithm of intelligent valve positioner based on parameter self-tuning

Research on control algorithm of intelligent valve positione...

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第三十九届中国控制会议

作者： Qian Cheng Zhifeng Liu Aipeng Jiang Enhui Jiang Yangjian Xiao Fengxu Li Jiaji Jiang School of Automation Hangzhou Dianzi University

Pneumatic valve positioner is widely used in chemical industry, energy, oil and gas, water treatment, paper industry and other industrial fields. The type of foreign valve positioner has been transferred from mechanical and electronic to intelligent electronic. However, the domestic research on valve positioner research started late, the technology is relatively backward, the failure rate is high. The main reason that affects the performance of domestic valve positioners is due to the immature control algorithm. Based on the analysis of the traditional five-step switch control algorithm, an improved control algorithm and a new parameter auto-tuning method are proposed. All control parameters in the improved control algorithm are obtained by self-tuning, which improves the universality of the algorithm. The parameter self-tuning method can automatically identify the stroke type, end position, maximum overshoot, optimal PWM duty ratio of different valve positions and other parameters, which provides the basis for the control parameter selection of the improved control algorithm. The control algorithm was implemented and verified with the help of an experimental bench. The experimental results show that the improved control algorithm not only greatly reduces the valve position adjustment time, but also avoids the overshoot phenomenon in the whole stroke range.

关键词： Intelligent valve positioner Five step switch control algorithm parameter self-tuning optimal PWM overshoot

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Quadrotor Control based on self-tuning LQR

Quadrotor Control based on Self-Tuning LQR

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第37届中国控制会议

作者： Kaiwen Pan Yang Chen Zhengxi Wang Huaiyu Wu Lei Cheng Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

Recently, quadrotor has become one of the hotspots in robot research. To design an efficient controller for a quadrotor UAV is always challenging to for its under-actuated, strong coupling and nonlinearity. In this paper, a double closed-loop cascaded linear quadratic regulator（LQR） controller is proposed to track the referred position and attitude respectively. In order to solve the problem of tedious parameter setting, a parameter self-tuning control structure based on Simultaneous Perturbation Stochastic Approximation（SPSA） is designed and the parameters in the position and attitude controller are optimized respectively. By comparing with the original LQR controller, the simulation results show that the parameter-optimized controller improves the dynamic performance and control effect both in position control and attitude control, which verifies the correctness and feasibility of the proposed method.

关键词： Quadrotor UAVs LQR SPSA parameter self-tuning

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