【作者】 包致远；

【导师】 孙鹤旭；

【作者基本信息】 河北工业大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 增量运动控制是一种动态不确定环境下的优化控制方法,对于复杂非线性的控制问题,经典的线性控制理论很难得到满意的控制。增量运动控制是一种多模态的控制过程。在控制的整个时域范围内,表现为位置、速度、加速度等不同运动模态。采用的控制方式包括点动控制、恒频控制、升降频控制,只有在不同的模态下,达到高精度的控制,才可使系统全局最优。 预测控制是在工业控制实践过程中发展起来的一种基于模型的先进控制方法,基本原理是以预测模型为基础,采用二次在线滚动优化性能指标,反馈校正预测模型,因此,预测模型、滚动优化、反馈校正是预测控制的三个基本要素,同时也是预测控制在实际工程应用中取得成功的技术关键。 随着电力电子与微电子技术的发展,电力传动控制的基本模式由连续模拟控制形式逐步发展为“DSP—IPM—电动机”的离散数字控制模式。其离散控制本质与预测控制的模型预测—滚动优化—反馈校正的离散控制模式相一致。通过对系统输出量变化的预测,根据优化性能指标得出相应的控制对策,然后利用实测过程数据对模型做必要的修正,从而克服系统中存在的不确定性。预测控制的应用使得运动控制的控制目标、控制性能得以在采样时间序列上得实现和优化,系统模型参数也将在每一周期得到适当的修正。 增量运动控制系统涉及微秒级甚至纳秒级的电力电子器件的开关暂态过程、毫秒级的数字控制器调节过程和秒级的电动机机电过渡过程。在系统的统一时序控制之下,系统具有离散控制的基本特性。由于这一系统的复杂性,迫使必须延伸研究工作以寻求更能面对控制特性、对数学模型要求不高、在线计算方便、控制效果好的、又便于综合的控制方法。本文研究中,首次提出了增量运动系统的非参量建模问题,采用动态矩阵控制(DMC),取得很好的控制效果。提出速度、位置、电流的多模态预测控制,在这方面进行了很有成就的基础性研究工作。更多还原

【Abstract】 Increment motion control is a kind of optimize control method under dynamic and uncertain conditions. For complex non-linear control problems, it is difficult to gain a satisfactory solution using classical linear control theory. Increment motion control is a multi-state control process. During the whole control time-field area, the system represents different states such as position, rate, acceleration and so on. The control methods include step control, constant frequency control and rise-drop frequency control. Only under different states and reaching high precision control, the system could attain whole optimization.Predictive control is an advanced control system based on the model developing with the industry control practice. The basic principle is based on predictive model with quadratic online to optimize the performance, then feedback emendate the predictive model. So predictive model, roll optimization and feedback emendation are basic factors of predictive control, which are also the key technologies for using it in practice successfully.Developing with the electronic and the micro-electronics technology, the basal mode of modern drive control has developed from continuous analog control to "DSP-IPM-motor" discrete digital control. The hypostasis of discrete control is accord with predict control. The uncertainty of the system can be overcome through predicting the change of the system and getting the corresponding control method based on the optimized performance, then correcting the model using the practiced process dates. The application of predictive control could make the control object and control performance get implementing and optimization, parameters of system model get proper correction in every cycle.Increment motion control system refers to microsecond even nanosecond electronic apparatus switch transient process、 millisecond digital controller adjust process and second motor transition process. In unify time-order control, the system has discrete control characteristic. Because of the system complicacy, it make us have to range our research to find a better control method, which could against the control character and need lower requirement to math model, more convenient online calculation, better control effect and easier to integration. In this paper, presents the non-parameters modeling issue about increment motion system for the first time, use the dynamic matrix control (DMC) technique and obtain well control effect. It presents position-speed-current predictive control, and makes basic research in this area.更多还原