Professional Documents
Culture Documents
5030~5036
e-ISSN: 2087-278X
5030
School of Information and Control Engineering, Shenyang Jianzhu University, 110168, Shenyang,
Liaoning, China
*Corresponding author, email: 814686683@qq.com
Abstract
Aiming at the characteristics which variable air volume air conditioning system is multi-variable,
nonlinear and uncertain system, normal fuzzy neural network is hard to meet the requirements which
dynamic control of multi-variable. In this paper, we put forward a recursive neural network predictive
control strategy based on wavelet neural network model. Through recursive wavelet neural network
predictor on line established controlled objects mathematical model, and using Elman neural network
controller on line corrected information we get, thus to improve control effect. The simulation results show
that recursive wavelet neural network predictive control has stronger robustness and adaptive ability, high
control precision, better and reliable control effect and other advantages.
Keywords: variable air volume aie conditioning (VAV) recursive wavelet neural network (RWNN) elman
neural network, predictive control.
Copyright 2013 Universitas Ahmad Dahlan. All rights reserved.
1. Introduction
Variable air volume (VAV) air conditioning system is a full air system of multi-variable
and nonlinear. In VAV air conditioning system, when the air conditioning load changes or indoor
air parameters set value changes, it will adjust air flow into the room automatically, and adjust
the air conditioning parameters to set value, to meet comfort and energy-saving requirements
[1]. Therefore, this paper puts forward a kind of recursive neural network predictive control
method based on T-S fuzzy model, to establish reference model online, to complete the
identification of systems dynamic characteristics, and using neural network control method to
improve control effect.
Received March 14, 2013; Revised May 31, 2013; Accepted June 14, 2013
e-ISSN: 2087-278X
TELKOMNIKA
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VAV air conditioning system is mainly composed of VAV air conditioning units and VAV
Box. The typical VAV system is shown in Figure 1. Its working principle is: According to control
requirements, it regulate new air volume, put air volume into VAV box, and then adjust VAV box
to complete control function. So, in order to achieve temperature control requirements, to
improve the comfort and energy saving effect, we need good control strategy to meet the needs
of people [2].
r (k )
e(k )
y (k )
u (k )
Z1
y (k )
e2
3.1. Recursive Neural Network based on Wavelet Neural Network Model Predictor Design
y * ( k 1)
Wj
H j ( k 1)
Vkj ( k 1)
Oi (k )
Wij
Wkj
x1 ( k )
xn (k )
x11 ( k 1)
xkj ( k 1)
x mm ( k 1)
Figure 3. Structure Diagram of Multi-input, Single Output Recursive Wavelet Neural Network
In this paper the design of predictor adopts recursive wavelet neural network. The structure
diagram is shown in Figure 3. In this network structure, the input of hidden layer is composed of
The Predictive Control Method of VAV Air Conditioning System (Jiejia LI)
5032
e-ISSN: 2087-278X
output of input layer and output of associated layer, [5] so recursive network structure has good
dynamic characteristics, for VAV air conditioning system which has dynamic, time-varying, nonlinear, uncertain system, it has good control effect.
The input layer of network has n neurons, this paper takes n=3, neurons of input layer
are x1(k), x2 (k) , x3 (k ) , on behalf of output u(k) of neural network controller, actual output delay
y(k 1) of controller object and the error y(k)y*(k) of objects actual output and predicted
output. Oi (k) is input layers output, i 1,2...n .Hidden layer and associated layer both have m
neurons. At k moment, output of hidden layer is H j (k 1) , so input of associated layer is
expressed as x kj ( k 1) H j ( k ) , is feedback gain [5]. Associated layers output is
Vkj ( k 1) .So, recursive wavelet neural networks output is:
m
j 1
i 1
k 1
y* (k 1) j ( ij Oi (k ) kjVkj (k 1) j )
(1)
( x ) (1 x ) e
2
x2
2
(2)
1
[ y ( k 1 ) y * ( k 1 )] 2
2
(3)
(4)
(5)
(6)
(7)
Among them:
6
m
m
E
E y*(k1)
j *
[y(k1)y*(k1)](ijOi (k)kjVkj(k1)j )
j y (k1) j
k1
j1 i1
(8)
m
n
m
E
E y*(k 1)
ij *
(9)
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TELKOMNIKA
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m
n
m
E
E y*(k1)
kj *
m
n
m
E
E
y*(k 1)
*
(10)
(11)
y (k )
w( 3)
x(k )
w( 2)
w(1)
u (k 1)
x k x k 1 x k 1
cl
cl
l
Where
xcl k
(12)
xl k
and is a self-feedback gain factor. It can simulate the high order system [8].
The nonlinear state space expression described by the modified Elman neural network
is:
(13)
xk f W 1 xc k W 2u k 1
xc k xk 1 xc k 1
y k g W 3 xk
For this paper, there are two input values, x1 is error value e , and
(14)
(15)
x2 is error variation
The Predictive Control Method of VAV Air Conditioning System (Jiejia LI)
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e-ISSN: 2087-278X
1
[ r ( k 1) y ( k 1)] 2
2
Ep
(16)
Where
ij3
(17)
Let,
i0 rd ( k 1) y i ( k 1) g i' ( ) ,
(18)
Then,
E P
i0 x j k
ij3
i 1, 2 , ..., m ;
E p x j k
E P
2
jq
x j k 2jq
i 1
0
i
j 1, 2, ..., n
ij3 f j' u q k 1
(19)
(20)
Let,
jh = i0 ij3 f j' ,
m
(21)
i 1
Then,
EP
h
= j uq k 1
2jq
j 1, 2,..., n; q 1, 2,..., r
m
E P
x j k
0 3
1 = i ij
jl i 1
1jl
Because
j 1, 2,..., n; l 1, 2,..., n
(22)
(23)
xc k depends on il1 ,
Hence,
x j k
r
n 1
f j ji x ci k 2ji u i k 1
1
jl i 1
i 1
n
x k
f j' x cl k 1ji ci 1
jl
i 1
n
x k 1
f j' xl k 1 1ji i 1
jl
i 1
1
jl
(24)
e-ISSN: 2087-2
278X
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KOMNIKA
Also
o,
ij
E p
(25)
(
ij
x j k
1jl
ca
an be ignored
d in the modified Elman neural
n
'
'
= f j xcl k = xl k 1 f j
1jl
5035
(26)
(
Then the
e learning allgorithm will degenerate
e into the fo
ollowing stan
ndard BP lea
arning
algorrithm:
ij3
i0 x j k
i 1, 2,..., m;
2jq
jhuq k 1
j 1, 2,,..., n;
x j k
i 1
1jl
1jl i0 ij3
j 1, 2,...,
2 n
q 1, 2,..., r
j 1, 2,..., n;
l 1, 2,...., n
(27)
(
(28)
(
(29)
(
Wherre,
i0 y d i k y i k g i'
(30)
(
(31)
(
i 1
Hence,
x j k
1jl
f j' x cl k
(32)
(
(33)
(
Then,
(34)
(
According
g to gradien
nt descent method,
m
we get
g iterative algorithm o
of outputs weight,
w
radial basis functiions center and
a radial ba
asis functions width.
Simulation and
a Conclus
sion
4. S
In order to verity the
e reasonable
eness of the
e control sch
heme. We m
made a simu
ulation
experriment. In th
his paper, control object is second--order lag model,
m
its tra
ansfer function is:
The Predictive
P
Con
ntrol Method
d of VAV Air Conditioning
C
g System (Jie
ejia LI)
5036
e--ISSN: 2087-278X
G (s)
kke s
. Take T1 14, T2 6, k 11, 10 , set desirred temperatture is
( T 1 s 1 )( T 2 s 1 )
Fig
gure 5. Comp
parison Diagram of Recursive Wavele
et Neural Ne
etwork Predicctive Control and
Common Neural
N
Network Control
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