The Neural Network Predictive Control Applied Research

Predictive control based on neural networks is one of the forward problems on study in the field of complex industrial process control. This paper, according to predictive control theory, designs a novel generalized predictive control algorithm based on BP neural network. Also, in this paper, neural network predictive control algorithm is studied for minimally invasive surgical teleoperation robot system and three-container water tanks system.In Ch.1, the background, the present development, the tendency and problems of the predictive control and the neural networks are summarized briefly. The application research and the development direction of the compound control method the neural network predictive control are discribed briefly.In Ch.2, first, aiming at the typical predictive control algorithm, the basic structure and the theory of the predictive control are discussed. Then, neural network control theory is simply discussed through the analysis of three common neural network models.In Ch.3, In order to eliminate disturbance of periodic deformations of organs due to respiratory movements and heart beating, during minimally invasive surgery with teleoperation robot, this paper designs an algorithm of generalized predictive controller scheme, based on the minimally invasive surgical teleoperation robot system model. The curves of MATLAB show that the system can reject better the cyclic disturbances.In Ch.4, the simulation experiments of PID, GPC and NNPC algorithms are made, taken the three-container water tanks of the long time delay and nonlinear system in industrial process, as the research object. The results of the experiments show that the compound control method of the neural network predictive control algorithm is practical and advanced in industrial process control equipments.In Ch.5, the LabVIEW platform of the teleoperation robot system is established for serial port communication, data acquisition card, network communication and the experiment of master-slave tracking position. In the LabVIEW platform interface, the experimental operation is more convenient and the observation data is more intuitive.In the end, the paper is summed up. Some problems which can be deeply studied are presented according to personal experiences and ideas.