摘要
研究含间隙机械系统的混杂模型预测控制问题.首先,将含间隙机械系统的运行模式分为"间隙模式"和"接触模式".其次,建立了含间隙机械系统的混杂分段仿射(PWA)模型.然后,利用模型预测控制(MPC)的方法对约束PWA系统的最优控制进行求解,通过动态规划与多参数二次规划方法,得到了MPC的离线解.最后,通过将分段二次(PWQ)Lyapunov函数的求解转换成半正定规划,找到了确保闭环控制稳定性的PWQLyapunov函数.跟踪参考速度的实验结果表明,混杂模型预测控制器对含间隙机械系统的跟踪控制具有较好的效果,能够满足小采样时间系统的实时控制要求.
The hybrid model-predictive-control for mechanical system with backlash is studied. The operation model of a mechanical system with backlash is distinguished into the ＂backlash mode＂ and the ＂contact mode＇, and a piecewise affine（PWA） model of the mechanical system with backlash is built. For controlling this constrained PWA system, the optimal control law is derived by using the model predictive control（MPC） method; the offline solution of which is ob- tained by using the dynamic programming and the multi-parametric quadratic programming method. Finally, a piecewise quadratic（PWQ） Lyapuno function for the stability of the closed-loop system is found by transforming its searching process to a semi-definite programming. Experiments in tracking a reference speed signal demonstrate that the hybrid MPC gives desirable performances for the mechanical system with backlash, satisfying the real-time control requirements for systems with small sampling time.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2009年第12期1378-1382,共5页
Control Theory & Applications
基金
北京市教育委员会共建基金资助项目(XK100070532)
