摘要

基于神經(jīng)網(wǎng)絡(luò)的預(yù)測控制是國內(nèi)外復(fù)雜工業(yè)過程控制領(lǐng)域中研究的前沿問題之一。本文根據(jù)預(yù)測控制的三大機(jī)理，在分析基本的預(yù)測控制算法的基礎(chǔ)上，設(shè)計了一種新穎的基于BP神經(jīng)網(wǎng)絡(luò)模型的廣義預(yù)測控制算法，并開展了神經(jīng)網(wǎng)絡(luò)預(yù)測控制在微創(chuàng)手術(shù)遙操作機(jī)器人系統(tǒng)和三容水箱系統(tǒng)中的應(yīng)用研究。
本文緒論對預(yù)測控制和神經(jīng)網(wǎng)絡(luò)產(chǎn)生的歷史背景、發(fā)展歷程、研究現(xiàn)狀、發(fā)展趨勢和存在的問題作了簡要的綜述，并扼要的講述了神經(jīng)網(wǎng)絡(luò)預(yù)測控制復(fù)合控制方法的應(yīng)用研究和發(fā)展方向。
第二章首先針對三種典型預(yù)測控制算法討論了預(yù)測控制的基本結(jié)構(gòu)和原理，深入分析了預(yù)測控制的模型預(yù)測、反饋校正與滾動優(yōu)化方法。然后通過分析三種常見的神經(jīng)網(wǎng)絡(luò)模型對神經(jīng)網(wǎng)絡(luò)控制原理進(jìn)行簡單的探討。
第三章在微創(chuàng)手術(shù)遙操作機(jī)器人系統(tǒng)模型的基礎(chǔ)上，針對遙操作機(jī)器人微創(chuàng)手術(shù)中，由呼吸運(yùn)動和心跳產(chǎn)生的組織周期性位移干擾設(shè)計了一種廣義預(yù)測控制方案。通過MATLAB仿真實驗表明，系統(tǒng)能在遙操作機(jī)器人系統(tǒng)模型下較好的消除這種由呼吸運(yùn)動和心跳產(chǎn)生的周期性擾動。
第四章以工業(yè)過程中大時延、非線性系統(tǒng)三容水箱為研究對象，分別進(jìn)行PID算法、廣義預(yù)測控制算法和神經(jīng)網(wǎng)絡(luò)預(yù)測控制算法的仿真實驗，從而體現(xiàn)了神經(jīng)網(wǎng)絡(luò)預(yù)測控制復(fù)合控制算法在工業(yè)過程控制裝置上的實用性和先進(jìn)性。
第五章設(shè)計了遙操作機(jī)器人系統(tǒng)的LabVIEW實驗平臺，實現(xiàn)實驗裝置的串口通信、數(shù)據(jù)采集卡以及網(wǎng)絡(luò)通訊，并完成了主從手位置跟蹤實驗。在LabVIEW平臺界面上，實驗操作更加簡便，數(shù)據(jù)觀察更加直觀。
最后對全文進(jìn)行總結(jié)，并結(jié)合自己的研究心得，指出一些可深入研究或有待解決的問題。

關(guān)鍵詞 預(yù)測控制；神經(jīng)網(wǎng)絡(luò)；遙操作機(jī)器人；三容水箱；LabVIEW






Abstract

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.

Keywords predictive control; neural network; three-container water tank; LabVIEW

目錄
摘要 I
Abstract II
第1章 緒論 1
1.1 課題研究背景及意義 1
1.1.1 經(jīng)典控制理論 1
1.1.2 現(xiàn)代控制理論 1
1.1.3 智能控制理論 2
1.2 國內(nèi)外研究現(xiàn)狀和發(fā)展趨勢 3
1.2.1 預(yù)測控制 3
1.2.2 人工神經(jīng)網(wǎng)絡(luò) 4
1.2.3 神經(jīng)網(wǎng)絡(luò)預(yù)測控制 5
1.3 存在的主要問題及解決方案 6
1.3.1 預(yù)測控制及神經(jīng)網(wǎng)絡(luò)存在的問題 6
1.3.2 神經(jīng)網(wǎng)絡(luò)預(yù)測控制的研究方向 7
1.4 論文主要研究內(nèi)容 7
第2章 預(yù)測控制和神經(jīng)網(wǎng)絡(luò)的基本原理 8
2.1 預(yù)測控制的基本原理 8
2.1.1 預(yù)測控制數(shù)學(xué)基礎(chǔ) 8
2.1.2 三種典型預(yù)測控制 12
2.2 神經(jīng)網(wǎng)絡(luò)控制原理 22
2.2.1 神經(jīng)網(wǎng)絡(luò)模型分類及功能 23
2.2.2 幾種常用的神經(jīng)網(wǎng)絡(luò)學(xué)習(xí)算法 23
2.3 本章小結(jié) 31
第3章 微創(chuàng)手術(shù)遙操作機(jī)器人系統(tǒng)廣義預(yù)測控制研究 32
3.1 微創(chuàng)手術(shù)遙操作機(jī)器人研究背景及工作原理 32
3.1.1 研究背景及問題 32
3.1.2 系統(tǒng)構(gòu)成及工作原理 33
3.1.3 動力學(xué)模型 34
3.1.4 主從手控制器設(shè)計 35
3.2 廣義預(yù)測控制MATLAB仿真實驗 36
3.2.1 開環(huán)主從手位置跟蹤實驗 37
3.2.2 閉環(huán)主從手位置-力跟蹤實驗 38
3.2.3 實驗結(jié)論 40
3.3 本章小結(jié) 40
第4章 基于三容水箱的神經(jīng)網(wǎng)絡(luò)預(yù)測控制研究 41
4.1 三容水箱結(jié)構(gòu)及原理 41
4.1.1 三容水箱實驗裝置 41
4.1.2 三容水箱數(shù)..