第 1 章 緒論 ···································································································1
1.1 智能控制的提出與發(fā)展 ·············································································1
1.1.1 智能控制的提出··············································································1
1.1.2 智能控制的發(fā)展··············································································3
1.2 智能控制的主要研究?jī)?nèi)容 ··········································································3
1.2.1 專家控制·······················································································4
1.2.2 模糊控制·······················································································4
1.2.3 神經(jīng)網(wǎng)絡(luò)控制·················································································5
1.2.4 自適應(yīng)控制····················································································6
1.2.5 生物啟發(fā)算法·················································································7
1.3 智能控制的研究對(duì)象、性能及特點(diǎn) ······························································8
1.3.1 智能控制的研究對(duì)象 ·······································································8
1.3.2 智能控制系統(tǒng)的性能及特點(diǎn) ······························································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(wèn)題的引入 ····································································.10
2.1.2 模糊理論問(wèn)題的發(fā)展 ····································································.10
2.1.3 模糊理論的應(yīng)用領(lǐng)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(tǒng)··············································································.13
2.2.3 模糊 PID 控制 ·············································································.14
2.2.4 模糊 PID 控制器的設(shè)計(jì)過(guò)程 ···························································.16
2.3 2.4 基于 Matlab 的模糊控制器設(shè)計(jì) ································································.23
模糊 PID 工程實(shí)驗(yàn) ················································································.26
2.4.1 換熱器模糊 PID 控制實(shí)驗(yàn)?zāi)康?························································.26
2.4.2 換熱器模糊 PID 控制實(shí)驗(yàn)要求 ························································.26
2.4.3 換熱器模糊 PID 控制實(shí)驗(yàn)設(shè)備 ························································.26
2.4.4 換熱器模糊 PID 控制實(shí)驗(yàn)內(nèi)容 ························································.27
2.4.5 換熱器模糊 PID 控制實(shí)驗(yàn)結(jié)論 ························································.39
2.5 模糊控制的適用范圍及研究意義 ······························································.40
第 3 章 基于自適應(yīng)方法的非線性控制系統(tǒng)設(shè)計(jì)與實(shí)現(xiàn) ··········································.42
3.1 自校正控制系統(tǒng)····················································································.42
3.2 李雅普諾夫穩(wěn)定性定理 ··········································································.45
3.2.1 李雅普諾夫意義下的穩(wěn)定性 ···························································.45
3.2.2 函數(shù)的正定性··············································································.46
3.2.3 李雅普諾夫穩(wěn)定性定理內(nèi)容 ···························································.46
3.3 一類非線性動(dòng)態(tài)的自適應(yīng)控制與穩(wěn)定性 ·····················································.48
3.3.1 問(wèn)題描述····················································································.48
3.3.2 統(tǒng)一的維納結(jié)構(gòu)···········································································.49
3.3.3 非線性動(dòng)態(tài)過(guò)程建模中的簡(jiǎn)化維納結(jié)構(gòu) ············································.51
3.3.4 自適應(yīng)控制設(shè)計(jì)與參數(shù)估計(jì) ···························································.52
3.3.5 跟蹤性能及穩(wěn)定性分析 ·································································.54
3.3.6 仿真實(shí)例····················································································.56
3.4 最小方差調(diào)節(jié)器和最小方差自校正調(diào)節(jié)器設(shè)計(jì) ············································.65
3.5 自適應(yīng)控制的適用范圍及研究意義 ···························································.68
第 4 章 基于神經(jīng)網(wǎng)絡(luò)的流程工業(yè)過(guò)程建模 ·························································.70
4.1 普通神經(jīng)網(wǎng)絡(luò)與線性系統(tǒng)辨識(shí)的關(guān)系 ························································.70
4.1.1 問(wèn)題描述····················································································.70
4.1.2 基礎(chǔ)理論····················································································.72
4.1.3 NN2TF 算法················································································.75
4.2 循環(huán)神經(jīng)網(wǎng)絡(luò)在過(guò)程建模中的應(yīng)用 ···························································.78
4.2.1 問(wèn)題描述····················································································.78
4.2.2 模型介紹····················································································.81
4.2.3 DRNN 辨識(shí)模型的學(xué)習(xí)算法 ···························································.87
4.2.4 基于李雅普諾夫穩(wěn)定性方法的自適應(yīng)學(xué)習(xí)率推導(dǎo) ································.88
4.3 GRU 神經(jīng)網(wǎng)絡(luò)在非線性動(dòng)態(tài)過(guò)程建模中的應(yīng)用 ···········································.91
4.3.1 GRU 神經(jīng)網(wǎng)絡(luò)概述 ······································································.91
4.3.2 基于 GRU 神經(jīng)網(wǎng)絡(luò)的過(guò)程建�！ぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁ�.91
4.4 神經(jīng)網(wǎng)絡(luò)的適用范圍及研究意義 ····························································.105
第 5 章 基于生物啟發(fā)算法的辨識(shí)與控制優(yōu)化 ······················································106
5.1 遺傳算法介紹·····················································································.106
5.1.1 遺傳算法概念、特點(diǎn)及應(yīng)用 ·························································.106
5.1.2 遺傳算法的基本流程及實(shí)現(xiàn)技術(shù) ···················································.107
5.2 群智能搜索在系統(tǒng)辨識(shí)中的典型應(yīng)用 ······················································.108
5.2.1 問(wèn)題描述··················································································.108
5.2.2 基礎(chǔ)理論··················································································.109
5.2.3 基于群智能的迭代辨識(shí) ·································································111
5.2.4 仿真實(shí)例····················································································115
5.3 生物啟發(fā)算法的適用范圍及研究意義 ······················································.121
第 6 章 專家控制系統(tǒng) ····················································································123
6.1 專家系統(tǒng)···························································································.123
6.1.1 專家系統(tǒng)定義············································································.123
6.1.2 專家系統(tǒng)構(gòu)造············································································.123
6.1.3 專家系統(tǒng)實(shí)現(xiàn)方式······································································.124
6.1.4 專家系統(tǒng)工作過(guò)程······································································.124
6.1.5 基于專家系統(tǒng)的自整定 PID 控制器 ················································.125
6.2 專家控制系統(tǒng)介紹 ··············································································.128
6.2.1 直接專家控制系統(tǒng)······································································.128
6.2.2 間接專家控制系統(tǒng)······································································.129
6.2.3 專家 PID 控制 ···········································································.130
6.3 專家控制系統(tǒng)的適用范圍及研究意義 ······················································.131
參考文獻(xiàn)······································································································132