Model Free Adaptive Control Theory And Its Applications

There are essential differences between model free adaptive control algorithm(MFAC)and model-based adaptive control algorithm(MBC)in the aspects of controlled objects,research methods,model processing and designing way of controller.MFAC algorithm is a kind of data-driven controling method which does not need the precise system model and does not use the systematic dynamic information to design the controller.The advantage of this method lies in that it has the characteristics of advanced controller,strong system adaptability,anti-interference ability and output tracking performance.The main work of this paper is as follows:First of all,it raised that an improved model free adaptive algorithm(HIU-MFAC),that is,by changing the criterion function of MFAC algorithm,information of changing rate of input and output data of the system is further utilized.As for the discrete complex nonlinear system,the simulation comparison between MFAC and HIU-MFAC algorithm verifies the effectiveness and theoretical value of the improved algorithm;.And as for the object with unknown parameters,the self-tuning PID algorithm and HIU-MFAC algorithm are simulated,and by comparing the output tracking performance and control input,it further verifies the superiority of HIU-MFAC algorithm to the system with unknown parameters or imprecise model.Secondly,based on the existing parameter setting methods,a model free adaptive control algorithm based on virtual reference feedback(VRFT-MFAC)is proposed.Through generating the self-adaptive assignment of the weight factor ? with the highest sensitivity of the system,the uncertainty brought by the artificial selective assignment can be avoided,and the blindness of the algorithm in the assignment of parameter is also reduced.The simulation results show that the the overshoot of VRFT-MFAC algorithm can be reduced and the output tracking performance is better,and the input control can be smoother and more stable under the premise that almost no influence on the rapidity of the system tracking performance,which can satisfy the requirements of precision,accuracy,rapidity,overshoot of the system,and strong adaptability.Finally,it used GSMT2014,which is a high-tech DC servo system control experimental platform.A real-time control system of DC motor servo system is designed in MATLAB/Simulink environment.The experimental research and result analysis of HIU-MFAC,MFAC and PID algorithm are compared,which fully proves that HIU-MFAC algorithm has strong generality,good dynamic performance and robustness.It illustrates preliminary that this paper has practical engineering significance.