研究具有多包不确定性和有界噪声系统的动态输出反馈鲁棒模型预测控制(Robust model predictive control,RMPC)的离线方法.先前的在线方法中,在估计状态和估计误差集合已知的情况下,在每一采样时刻通过近似最优算法求解控制器参数.本文...研究具有多包不确定性和有界噪声系统的动态输出反馈鲁棒模型预测控制(Robust model predictive control,RMPC)的离线方法.先前的在线方法中,在估计状态和估计误差集合已知的情况下,在每一采样时刻通过近似最优算法求解控制器参数.本文采用先前的方法计算离线控制器参数和吸引域.首先,选定一系列估计状态,其中,每个估计状态对应同样一组嵌套的估计误差集合.然后,针对每一估计状态和每一估计误差集合的组合,离线计算唯一的控制器参数和对应的吸引域.这些控制器参数和对应的吸引域存储在表中.如果离线确定的吸引域包含实时的扩展状态,则该离线控制器参数是实时可行的.在线时,根据实时估计状态和选取实时估计误差集合,在表中搜索包含实时扩展状态且优化性能指标最小的吸引域所对应的控制器参数.通过连续搅拌釜式反应器控制系统验证了该方法的有效性.展开更多
针对如何提高阀控离合器的位置控制精度、克服非线性等问题,该文提出了一种基于状态反馈线性化的电液伺服系统模型预测控制方案。首先建立了伺服系统状态空间模型,将非线性系统映射为新坐标空间内的线性系统模型;接着设计了一种基于马...针对如何提高阀控离合器的位置控制精度、克服非线性等问题,该文提出了一种基于状态反馈线性化的电液伺服系统模型预测控制方案。首先建立了伺服系统状态空间模型,将非线性系统映射为新坐标空间内的线性系统模型;接着设计了一种基于马尔可夫链预测模型的反馈线性化模型预测控制器(feedback linearization model predictive controller,FLMPC),通过设计损失函数求解最优输入序列,最终作用于反馈线性化系统。仿真结果证明,在相同输入情况下,反馈线性化系统与原系统的位置误差满足控制需要,可以有效减少超调量。且在保证被控对象快速稳定控制的条件下,相比非线性模型预测控制,该算法单步计算时间更短。展开更多
The benchmark is an essential issue of the performance assessment problem of the control systems.In this paper,the authors extend the theories of fundamental design limitations to model predictive control(MPC)systems ...The benchmark is an essential issue of the performance assessment problem of the control systems.In this paper,the authors extend the theories of fundamental design limitations to model predictive control(MPC)systems to establish a performance benchmark.Considering constraints on the frequency domain explicitly,an output feedback robust model predictive controller was developed for the multi-input/multi-output systems with disturbances.The feedback controller developed could be explicitly set up,without online optimization.With this controller the closed-loop systems reached the limit of control performance,so that it could be served as the benchmark controller to assess the other MPC’s using the process routine data.The performance index was established.A performance assessment procedure was proposed for evaluating the other MPC systems.Numerical example well demonstrated the proposed performance assessment procedure.展开更多
文摘研究具有多包不确定性和有界噪声系统的动态输出反馈鲁棒模型预测控制(Robust model predictive control,RMPC)的离线方法.先前的在线方法中,在估计状态和估计误差集合已知的情况下,在每一采样时刻通过近似最优算法求解控制器参数.本文采用先前的方法计算离线控制器参数和吸引域.首先,选定一系列估计状态,其中,每个估计状态对应同样一组嵌套的估计误差集合.然后,针对每一估计状态和每一估计误差集合的组合,离线计算唯一的控制器参数和对应的吸引域.这些控制器参数和对应的吸引域存储在表中.如果离线确定的吸引域包含实时的扩展状态,则该离线控制器参数是实时可行的.在线时,根据实时估计状态和选取实时估计误差集合,在表中搜索包含实时扩展状态且优化性能指标最小的吸引域所对应的控制器参数.通过连续搅拌釜式反应器控制系统验证了该方法的有效性.
文摘针对如何提高阀控离合器的位置控制精度、克服非线性等问题,该文提出了一种基于状态反馈线性化的电液伺服系统模型预测控制方案。首先建立了伺服系统状态空间模型,将非线性系统映射为新坐标空间内的线性系统模型;接着设计了一种基于马尔可夫链预测模型的反馈线性化模型预测控制器(feedback linearization model predictive controller,FLMPC),通过设计损失函数求解最优输入序列,最终作用于反馈线性化系统。仿真结果证明,在相同输入情况下,反馈线性化系统与原系统的位置误差满足控制需要,可以有效减少超调量。且在保证被控对象快速稳定控制的条件下,相比非线性模型预测控制,该算法单步计算时间更短。
文摘The benchmark is an essential issue of the performance assessment problem of the control systems.In this paper,the authors extend the theories of fundamental design limitations to model predictive control(MPC)systems to establish a performance benchmark.Considering constraints on the frequency domain explicitly,an output feedback robust model predictive controller was developed for the multi-input/multi-output systems with disturbances.The feedback controller developed could be explicitly set up,without online optimization.With this controller the closed-loop systems reached the limit of control performance,so that it could be served as the benchmark controller to assess the other MPC’s using the process routine data.The performance index was established.A performance assessment procedure was proposed for evaluating the other MPC systems.Numerical example well demonstrated the proposed performance assessment procedure.
