间歇过程点对点迭代学习控制的初始状态误差分析

doi:10.11949/j.issn.0438-1157.20170106

化工学报 ›› 2017, Vol. 68 ›› Issue (7): 2826-2832.DOI: 10.11949/j.issn.0438-1157.20170106

间歇过程点对点迭代学习控制的初始状态误差分析

洪英东, 熊智华, 江永亨, 叶昊

清华大学自动化系, 北京 100084

收稿日期:2017-01-22 修回日期:2017-04-06 出版日期:2017-07-05 发布日期:2017-07-05
通讯作者: 熊智华
基金资助:
国家自然科学基金项目（61473162）。

Analyze initial state errors of point-to-point iterative learning control for batch process

HONG Yingdong, XIONG Zhihua, JIANG Yongheng, YE Hao

Department of Automation, Tsinghua University, Beijing 100084, China

Received:2017-01-22 Revised:2017-04-06 Online:2017-07-05 Published:2017-07-05
Contact: 10.11949/j.issn.0438-1157.20170106
Supported by:
supported by the National Natural Science Foundation of China (61473162).

摘要/Abstract

摘要：

针对间歇过程点对点跟踪控制问题，在轨迹更新的迭代学习控制算法框架下，针对非理想初始状态情况下3种不同的初始误差，通过2D Roesser模型对其进行描述并分析其收敛性。给出了不同的情况下系统相对参考轨迹的零误差跟踪或者收敛到特定邻域的条件，在零误差跟踪不能实现的情况下给出了邻域的范围。通过数值模型仿真验证了给出的收敛条件和收敛边界，并分析了不同因素对收敛边界的影响。

关键词: 初始状态, 迭代学习控制, 2D系统理论, 点对点跟踪

Abstract:

To address problems of point-to-point tracking control for batch processes, three different initial errors of non-ideal initial states were analyzed and studied for convergence by 2 D Roesser model within the framework of tracking control algorithm. Conditions were provided to achieve zero or a neighborhood of zero tracking control errors between system and reference trajectory at various scenarios. For these unable to achieve zero tracking errors, boundaries of final tracking errors were given. Numerical simulation validated these convergence conditions and boundaries, and assessed effect of control parameters on these boundaries.

Key words: initial condition, iterative learning control, two-dimensional system theory, point-to-point tracking control

中图分类号:

TP13

洪英东, 熊智华, 江永亨, 叶昊. 间歇过程点对点迭代学习控制的初始状态误差分析[J]. 化工学报, 2017, 68(7): 2826-2832.

HONG Yingdong, XIONG Zhihua, JIANG Yongheng, YE Hao. Analyze initial state errors of point-to-point iterative learning control for batch process[J]. CIESC Journal, 2017, 68(7): 2826-2832.

参考文献 30

[1]	宋建成. 间歇过程计算机集成控制系统. 北京: 化学工业出版社, 1999.SONG J C. Computer Integrated Control System for Batch Process[M].Beijing: Chemical Industry Press, 1999.
[2]	LEE J H, LEE K S. Iterative learning control applied to batch processes: an overview[J]. Control Engineering Practice, 2007, 15(10): 1306-1318.
[3]	贾立, 施继平, 邱铭森. 一种间歇过程产品质量迭代学习控制策略[J]. 化工学报, 2009, 60(8): 2017-2023.JIA L, SHI J P, QIU M S. A novel iterative learning control for product quality control in batch process[J]. CIESC Journal, 2009, 60(8): 2017-2023.
[4]	CHI R, WANG D, HOU Z, et al. Data-driven optimal terminal iterative learning control[J]. Journal of Process Control, 2012, 22(10): 2026-2037.
[5]	王志文, 刘毅, 高增梁. 时变间歇过程的 2D-PID 自适应控制方法[J]. 化工学报, 2016, 67(3): 991-997.WANG Z W, LIU Y, GAO Z L. 2D-PID adaptive control method for time-varying batch processes[J]. CIESC Journal, 2016, 67(3): 991-997.
[6]	Alhazza K A, Hasan A M, Alghanim K A, et al. An iterative learning control technique for point-to-point maneuvers applied on an overhead crane[J]. Shock and Vibration, 2014, (1): 261-509
[7]	Freeman C T. Constrained point-to-point iterative learning control with experimental verification[J]. Control Engineering Practice, 2012, 20(5): 489-498.
[8]	Lee K H, Bien Z. Initial condition problem of learning control[J]. IEE Proceedings D-Control Theory and Applications, 1991, 138(6): 525-528.
[9]	Park K H, Bien Z. A generalized iterative learning controller against initial state error[J]. International Journal of Control, 2000, 73(10): 871-881.
[10]	孙明轩. 初态学习下的迭代学习控制[J]. 控制与决策, 2007, 22(8): 848-852.Sun M X. Iterative learning control with Initial state learning[J].Control and Decision. 2007, 22(8): 848-852.
[11]	Chi R, Hou Z, Xu J. Adaptive ILC for a class of discrete-time systems with iteration-varying trajectory and random initial condition[J]. Automatica, 2008, 44(8): 2207-2213.
[12]	Kurek J E, Zaremba M B. Iterative learning control systhesis based on 2-D system theory[J]. IEEE Transactions on Automatic Control, 1993, 38(1): 121-125.
[13]	Geng Z, Jamshidi M. Learning control system analysis and design based on 2-D system theory[J]. Journal of Intelligent & Robotic Systems, 1990, 3(1): 17-26.
[14]	Fang Y, Chow T W S. 2-D analysis for iterative learning controller for discrete-time systems with variable initial conditions[J]. IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications, 2003, 50(5): 722-727.
[15]	Guan W, Zhu Q, Wang X D, et al. Iterative learning control of linear continuous systems with variable initial states based on 2-D system theory[C]//Control Conference (CCC), IEEE, 2014: 8812-8815.
[16]	Li X D, Ho J K L, CHOW T W S. Iterative learning control for linear time-variant discrete systems based on 2-D system theory[J]. IEE Proceedings-Control Theory and Applications, 2005, 152(1): 13-18.
[17]	Meng D, Jia Y, Du J, et al. Necessary and sufficient stability condition of LTV iterative learning control systems using a 2-D approach[J]. Asian Journal of Control, 2011, 13(1): 25-37.
[18]	Meng D, Jia Y, Du J. Stability of varying two-dimensional Roesser systems and its application to iterative learning control convergence analysis[J]. IET Control Theory & Applications, 2015, 9(8): 1221-1228
[19]	Owens D H, Freeman C T, Chu B. Generalized norm optimal iterative learning control with intermediate point and sub-interval tracking[J]. International Journal of Automation and Computing, 2015, 12(3): 243-253.
[20]	Chu B, Freeman C T, Owens D H. A novel design framework for point-to-point ILC using successive projection[J]. IEEE Transactions on Control Systems Technology, 2015, 23(3): 1156-1163.
[21]	洪英东, 熊智华, 邱伟伟, 等. 基于2D理论的点对点轨迹更新综合预测迭代学习控制[C]//第27届中国过程控制会议(CPCC2016), 2016.Hong Y D, Xiong Z H, Qiu W W, et al. Two-dimensional based point-to-point reference trajectory updating integrated predictive iterative learning control for batch process[C]//Chinese Process Control Conference 2016, 2016.
[22]	An T J. Closed loop iterative learning control for point to point tracking problem with desired trajectory updating[J]. Information Technology Journal, 2014, 13(5): 859-863.
[23]	Xu J X, Yan R. On initial conditions in iterative learning control[J]. IEEE Transactions on Automatic Control, 2005, 50(9): 1349-1354.
[24]	张华. 迭代学习控制问题初态研究[D].无锡: 江南大学, 2014.Zhang H. Research of initial state for iterative learning control[D]. Wuxi: Jiangnan University, 2014.
[25]	Sun M X. Robustness of higher-order p-type learning control[J]. IET Control Theory & Applications, 1997, 14(1): 12-18.
[26]	YANG, Z, CHAN C W. Conditional iterative learning control for non-linear systems with non-parametric uncertainties under alignment condition[J]. IET Control Theory & Applications, 2009, 3(11): 1521-1527.
[27]	Roesser R. A discrete state-space model for linear image processing[J]. IEEE Transactions on Automatic Control, 1975, 20(1): 1-10.
[28]	Chen C, Xiong Z, Zhong Y. Design and analysis of integrated predictive iterative learning control for batch process based on two-dimensional system theory[J]. Chinese Journal of Chemical Engineering, 2014, 22(7): 762-768.
[29]	Ray W H. Advanced Process Control[M]. New York: McGraw-Hill, 1981.
[30]	Logsdon J S, Biegler L T. Accurate solution of differential-algebraic optimization problems[J]. Ind. Eng. Chem. Res., 1989, 28(11): 1628-1639.

间歇过程点对点迭代学习控制的初始状态误差分析

Analyze initial state errors of point-to-point iterative learning control for batch process

PDF (PC)

可视化

被引次数

摘要/Abstract

引用本文

使用本文

参考文献 30

相关文章 3

编辑推荐

Metrics

本文评价

[1]	曹婷婷, 张正江, 郑崇伟. 初始状态不确定的非线性过程系统状态估计的鲁棒粒子滤波方法[J]. 化工学报, 2016, 67(9): 3826-3832.
[2]	王志文, 刘毅, 高增梁. 时变间歇过程的2D-PID自适应控制方法[J]. 化工学报, 2016, 67(3): 991-997.
[3]	叶凌箭, 马修水, 宋执环. 基于输入轨迹参数化的间歇过程迭代学习控制[J]. 化工学报, 2016, 67(3): 743-750.