E-FRIT法に基づくデータ駆動型PID制御系の学習法

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  • 脇谷 伸
    東京農工大学大学院工学研究院先端電気電子部門
  • 鄧 明聡
    東京農工大学大学院工学研究院先端電気電子部門

書誌事項

タイトル別名
  • A New Learning Algorithm for Data-driven PID Controller Based on E-FRIT
  • E-FRITホウ ニ モトズク データ クドウガタ PID セイギョケイ ノ ガクシュウホウ

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説明

This paper proposes a new offline learning algorithm for a data-driven proportional-integral-derivative (DD-PID) controller based on an extended fictitious reference iterative tuning (E-FRIT). PID controllers have been used in many process systems. However, it is difficult to maintain a good control performance using PID controllers with fixed control parameters because of the nonlinearity of the systems. The DD-PID controller has been proposed as an effective control system for nonlinear systems. This controller can tune its PID parameters adaptively at each equilibrium point of the system output. In the conventional DD-PID controller, the PID parameters are learned so as to minimize a criterion of the FRIT method. However, the FRIT method is based on minimization of the error in system output, and therefore, the criterion is insufficient for systems, such as chemical process systems, for which the stability of a closed loop system is essential. In order to solve this problem, the E-FRIT method has been proposed; a penalty for input variation is incorporated in the criterion for this method. In the present study, an offline learning rule of PID parameters was derived based on the E-FRIT criterion. According to the rule, the PID parameters that are taken into stability can be calculated. The effectiveness of the proposed method was evaluated by simulations of a polystyrene reactor system. The simulation confirmed that the proposed DD-PID controller yields better control result than the conventional learning method.

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