【作者】 刘静；

【导师】 刘晓华；

【作者基本信息】 鲁东大学 ， 运筹学与控制论， 2006， 硕士

【摘要】 本文研究了多速率采样预测控制的若干问题.主要内容分为两部分:第一部分是多速率采样预测控制算法的设计.包括基于极点配置的双速率采样预测控制算法、双速率采样Min-max鲁棒广义预测控制算法和时滞多速率采样预测控制算法三种情形;第二部分研究多速率采样预测控制系统的性能分析.论文的主要结果有: (1)对双速率采样预测控制系统的性能进行了分析.推导双速率采样预测控制系统具有内模结构,研究了双速率采样预测控制系统的鲁棒稳定性和零稳态偏差特性.通过仿真实例说明双速率采样预测控制对比单速率采样预测控制在性能上的优越性. (2)研究了基于极点配置的双速率采样预测控制算法.针对一类输入更新速率是输出采样速率N倍的系统,充分利用该系统存在的自由度,设计状态反馈矩阵,不但能将闭环极点配置到期望位置,而且当系统参数存在不确定性时,能够保证系统的鲁棒稳定性.从而推进了双速率采样预测控制的已有的研究工作. (3)给出了一类新的双速率采样Min-max鲁棒广义预测控制.此算法是针对已有文献中的双速率采样预测控制算法的不足提出来的.通过增加受限输出时域和在性能指标中引入干扰项的方法,设计了鲁棒性较强的控制律,有效的减弱了干扰对系统的影响.在此基础上,对系统的鲁棒稳定性进行了分析. (4)研究了一类时滞双速率采样预测控制问题.针对输入更新速率比输出采样速率慢的双速率采样系统,建立了带有时滞的输入输出预测模型,给出了时滞双速率采样预测控制算法,弥补了已有文献中时滞多速率采样加权最小方差控制的不足,解决了时滞对多速率采样系统带来的影响.利用线性矩阵不等式对闭环系统的鲁棒稳定性进行了分析. (5)对所提出的各类预测控制算法进行了仿真研究,证明了算法的有效性.更多还原

【Abstract】 This thesis discusses several researches on multi-rate predictive control contenting of two parts. The first part is the algorithm design, which consists of dual-rate predictive control based on the pole placement, dual-rate min-max robust generalized predictive control and dual-rate predictive control for time-delay systems; the second part is the performance analysis of multi-rate predictive control systems.The main results are: (1) The IMC structure of the dual-rate predictive control system is derived, and its robust stability and zero steady state error characteristics are analyzed. Simulation examples explain the dual-rate predictive control has more superiority than the single-rate predictive control. (2) An algorithm of dual-rate predictive control based on the pole placement is proposed. A class of system that the control is applied at a faster rate than the available measurements of the plant output signal is chosen to illustrate the technique. A state feedback gain matrix is designed, which can not only assign closed loop poles at desiring position but also ensure the system robust stability, though there are some uncertain parameters in the system. This result precedes the former research work. (3) Dual-rate min-max robust generalized predictive control algorithm is proposed, which adds a constraint output horizon to improve the system properties. A controller with strong robustness is derived, which is robust to disturbances by minimizing the cost function while disturbances maximize it. Some robust stability conditions are derived. (4) A class of dual-rate input-output predictive model containing time delays is established. A new dual-rate predictive control algorithm for the time-delay system is presented, which makes up the shortcoming of multi-rate weighted minimum-variance control for time-delays system, and has solved the influence of time delays on the multi-rate system. Furthermore, the robust stability of the closed-loop system is analyzed using linear matrix inequalities (LMI) method. (5) Computer simulations demonstrate the usefulness of the proposed algorithms in this paper.更多还原