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由于模型预测控制的反复在线优化计算特点,使得模型预测控制难以适用于动态变化较快的机电系统的控制,如倒立摆动系统的控制,为此研究了倒立摆动系统的显式模型预测控制。基于约束线性优化控制问题的多参数规划方法,建立了显式模型预测控制系统,以避免控制系统反复在线优化计算。应用建立的显式模型预测控制系统,对于直线一级和二级倒立摆系统控制做了研究,并做了数值仿真计算。研究结果表明倒立摆系统显式模型预测控制的平衡控制效果是明显的。
Due to the characteristics of repeated on-line optimization of model predictive control, model predictive control is difficult to be applied to the control of rapidly changing electromechanical systems, such as the control of inverted pendulum systems. Therefore, the explicit model predictive control of inverted pendulum system is studied. Based on the multi-parameter programming method of constrained linear optimization control problem, an explicit model predictive control system is established to avoid repeated online optimization of the control system. The explicit model predictive control system is established. The system control of linear first-order and second-order inverted pendulums is studied and the numerical simulation is done. The results show that the equilibrium control effect of the explicit model predictive control of the inverted pendulum system is obvious.