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本文描述了一类基于差分方程模型的模型预测控制(ModelPredictiveControl,简称MPC)的方法,给出了其详细算法,论述了MPC算式在STD-V40工控机上的实现步骤及方法。 相似文献
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基于模糊模型的多变量预测控制算法 总被引:6,自引:0,他引:6
将模糊模型应用于模型预测控制,提出一种可用于非线性过程控制的模糊模型预测控制算法(FMPC)。模糊模型与单纯形调优的非线性规划方法相结合可获得优化的控制律。仿真结果表明,FMPC可获得良好的控制效果,具有较高的应用价值。 相似文献
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基于状态空间的稳定广义预测控制器 总被引:2,自引:0,他引:2
给出了稳定广义预测控制(SGPC)算法的状态空间表达形式,并讨论了基于状态空间表达式的SGPC和基于输入输出表达式的SGPC之间的等价性。最后给出了算法的仿真结果。 相似文献
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模型预测控制发展概况 总被引:3,自引:0,他引:3
0引言模型预测控制(MPC)又称基于模型的预测控制(MBPC),最初由Richalet和Culter等人提出。1968年模型预测控制的四个基本原则提出,1973年模型预测控制方法在工业控制中得到应用,接着出现了三代模型预测控制器即70年代后半期的第一... 相似文献
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周云钟 《自动化与仪器仪表》1995,(5):48-49
讲座:预测控制──第三讲 模型算法控制电子科技大学(成都)周云钟模型算法控制是70年代后期发展起来的一种预测控制算法,在热工和化工等过程控制领域获得了广泛应用,并取得了巨大成功。1预测模型模型算法控制(MAC)适用于渐近稳定的线性对象。测定了此类对象... 相似文献
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GPC的预测状态空间形式及预测控制算法形式的统一 总被引:8,自引:0,他引:8
提出一种与MAC,DMC预测状态空间形式算法相似的GPC预测状态空间形式的算法,使GPC可以进行多步迭代预测,并讨论了GPC预测状态空间算法可作为预测控制算法的一种统一形式。 相似文献
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研究了原油常压蒸馏塔的前馈广义预测控制算法(GPC),克服了可测扰动对系统的作用,建立了以进料温度为可测扰动的常压塔常一线温度控制的CARIMA模型,实现了前馈GPC算法的仿真,验证了该算法对具有可测扰动的过程系统具有良好的控制作用,使系统具有良好的鲁棒性。 相似文献
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本文在研究实现有多种递阶生产计划和控制模型的基础上,提出用关联预测法来解决柔性自动化车间(FAW)的最优递阶生产计划与控制问题。文中首先建立FAW生产控制的数学模型,然后推导FAW递阶生产计划的关联预测算法,编写了基于该算法的IPA软件包并进行了算例研究,同现有的计划分解方法相比,这里的方法更适于将CIMS/MRPⅡ下达给FAW的中期计划最优分解成由FAW中各FMS执行的短期计划。 相似文献
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海底采矿车多工作于稀软底质,其面临的外部扰动较大,难以快速收敛跟踪误差,精准地跟踪预设轨迹。为此,本文提出了一种海底采矿车的滑模预测控制(sliding model predictive control,SMPC)轨迹跟踪算法。基于海底采矿车的运动学模型,首先设计滑模控制率实现轨迹跟踪误差快速收敛,其次利用少预测时域的线性时变模型预测控制算法(linear time varying model predictive control,LTV-MPC)优化该滑模控制率。而后,通过证明滑模控制率收敛和模型预测控制稳定,保证了闭环控制系统的稳定性。RecurDyn&Simulink联合仿真结果表明,与单一的滑模控制(sliding mode control,SMC)和线性时变模型预测控制算法相比,所提出的SMPC轨迹跟踪算法提高了轨迹跟踪精度,且算法具有较好的实时性。 相似文献
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In this paper we study constrained stochastic optimal control problems for Markovian switching systems, an extension of Markovian jump linear systems (MJLS), where the subsystems are allowed to be nonlinear. We develop appropriate notions of invariance and stability for such systems and provide terminal conditions for stochastic model predictive control (SMPC) that guarantee mean-square stability and robust constraint fulfillment of the Markovian switching system in closed-loop with the SMPC law under very weak assumptions. In the special but important case of constrained MJLS we present an algorithm for computing explicitly the SMPC control law off-line, that combines dynamic programming with parametric piecewise quadratic optimization. 相似文献
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This paper reviews the development and application of sliding mode predictive control (SMPC) in a tutorial manner. Two core design paradigms are revealed in the combination of sliding mode control (SMC) and model predictive control (MPC). In the first case, MPC is used in the reaching phase to ensure a sliding mode is attained. In the second case, MPC is used to solve the existence problem and define the required performance in the sliding mode. The two approaches are discussed in detail from the perspectives of both theory and application. Finally, some future challenges and opportunities in the area of SMPC are summarized. 相似文献
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The success of the single-model MPC (SMPC) controller depends on the accuracy of the process model. Modeling errors cause sub-optimal control performance and may cause the control system to become closed-loop unstable. The goal of this paper is to examine the control performance of the robust MPC (RMPC) method proposed by Wang and Rawlings [34] on several illustrative examples. In this paper, we show the RMPC method successfully controls systems with time-varying uncertainties in the process gain, time constant and time delay and achieves offset-free non-zero set point tracking and non-zero disturbance rejection subject to input and output constraints. 相似文献
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The Steer-by-Wire (SbW) system is probably the most significant innovation among drive-by-Wire technologies in the automotive industry. Without the mechanical link, the most challenging issue is to control the wheels to closely follow the driver’s command. To improve the robustness of the model predictive control (MPC) in the presence of modeling uncertainties and disturbances in the steering control processes, a sliding mode predictive tracking control (SMPC) strategy for a SbW system with uncertain dynamics is proposed. The simulation and experimental results demonstrate that the performance of the proposed SMPC tracking controller is superior to both SMC and MPC methods for the steering angle tracking task. 相似文献
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The problem of robust adaptive predictive control for a class of discrete-time nonlinear systems is considered. First, a parameter estimation technique, based on an uncertainty set estimation, is formulated. This technique is able to provide robust performance for nonlinear systems subject to exogenous variables. Second, an adaptive MPC is developed to use the uncertainty estimation in a framework of min–max robust control. A Lipschitz-based approach, which provides a conservative approximation for the min–max problem, is used to solve the control problem, retaining the computational complexity of nominal MPC formulations and the robustness of the min–max approach. Finally, the set-based estimation algorithm and the robust predictive controller are successfully applied in two case studies. The first one is the control of anonisothermal CSTR governed by the van de Vusse reaction. Concentration and temperature regulation is considered with the simultaneous estimation of the frequency (or pre-exponential) factors of the Arrhenius equation. In the second example, a biomedical model for chemotherapy control is simulated using control actions provided by the proposed algorithm. The methods for estimation and control were tested using different disturbances scenarios. 相似文献
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本文针对一类由状态相互耦合的子系统组成的分布式系统, 提出了一种可以处理输入约束的保证稳定性的非
迭代协调分布式预测控制方法(distributed model predictive control, DMPC). 该方法中, 每个控制器在求解控制率时只与
其它控制器通信一次来满足系统对通信负荷限制; 同时, 通过优化全局性能指标来提高优化性能. 另外, 该方法在优化
问题中加入了一致性约束来限制关联子系统的估计状态与当前时刻更新的状态之间的偏差, 进而保证各子系统优化问
题初始可行时, 后续时刻相继可行. 在此基础上, 通过加入终端约束来保证闭环系统渐进稳定. 该方法能够在使用较少
的通信和计算负荷情况下, 提高系统优化性能. 即使对于强耦合系统同样能够保证优化问题的递推可行性和闭环系统的
渐进稳定性. 仿真结果验证了本文所提出方法的有效性. 相似文献
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