摘要
针对一类工业过程中系统存在着外界扰动及不确定性等问题,提出一种基于扩展跟踪误差的鲁棒模型预测控制(RMPC)方法。与传统状态空间模型不同,采用带有系统状态增量和输出跟踪误差的状态空间扩展模型,使系统在消除稳态误差的同时,可以分别调节系统状态的动态响应和输出跟踪误差。基于该模型下设计的系统控制律不但保证了系统的收敛性和跟踪性能,还为控制器的设计提供更多的自由度。在此基础上,通过差分方程构建李雅普诺夫(Lyapunov)函数,得出保证系统稳定的线性矩阵不等式(LMI)形式的充分条件。此外,考虑到未知有界干扰以及不确定性对系统性能的影响,将H无穷性能指标引入到稳定性条件推导中。最后,在线求解LMI来获得系统的控制律,并通过仿真验证本文提出方法的有效性和可行性。
Aiming at the problems of external disturbance and uncertainty in a class of industrial processes,a robust model predictive control(RMPC)method based on extended tracking error was proposed.Being different from the traditional state space model,a state space expansion model with system state increment and output tracking error was adopted so that the system could adjust the dynamic response of the system state and output tracking error while eliminating the steady state error.The system control law was designed based on this model,which not only guaranteed the system’s convergence and tracking performance,but also provided more freedom for the design of the controller.The Lyapunov function was constructed by the difference equation,and sufficient conditions in terms of linear matrix inequality(LMI)form were given to ensure the stability of the system.In addition,considering the influence of unknown bounded disturbance and uncertainty on system performance,the H infinite performance index was introduced into the derivation of the stability condition.Finally,the system’s control law was obtained by online solving LMI,and the validity and feasibility of the proposed method were verified by simulation.
作者
武梓涵
施惠元
苏成利
WU Zi-han;SHI Hui-yuan;SU Cheng-li(School of Information and Control Engineering,Liaoning Shihua University,Fushun 113001,China)
出处
《当代化工》
CAS
2020年第11期2592-2596,2601,共6页
Contemporary Chemical Industry
基金
国家自然科学基金(项目编号:61773190,61703191)
辽宁省自然科学基金(项目编号:20180550905,2019-KF-03-05)
作者简介
武梓涵(1995-),男,辽宁省锦州市人,在读硕士,研究方向:鲁棒模型预测控制。E-mail:1095473970@qq.com;通讯作者:苏成利(1977-),男,博士,硕士研究生导师,研究方向:预测控制和智能控制等。E-mail:suchengli@lnpu.edu.cn。
