快速在线模型预测及在三自由度直升机中的应用
FAST ONLINE MODEL PREDICTIVE CONTROL AND ITS APPLICATION IN 3-DOF HELICOPTER
针对传统模型预测控制(model predictive control, MPC)很难适用于规模较大或采样频 率较高系统的问题, 提出一种新的在线优化快速预测控制方法. 该方法主要利用MPC中的二次型规划问题(quadratic programming, QP)结构, 将变量进行适当的重新排序,采用改进的内点法来提高控制性能的同时达到快速控制目标的要求. 同时, 将该算法应用于三自由度直升机中, 仿真结果与传统的模型预测控制及PID控制算法进行了对比, 验证了快速模型预测控制算法在控制效果及速度方面的优势.
In order to solve the problem that model predictive control (MPC) is difficult to apply to the large scale system or fast dynamic system, a new fast online optimization predictive control method is presented in this paper. The method exploits the structure of the quadratic problem (QP) that arise in MPC, reorders the appropriate variable and uses the advanced interior-point to improve the control performance and to achieve the rapid control objective. As its application, the proposed method is applied to the 3-Degree-Of-Freedom (3-DOF) helicopter. Simulations are made and results show the great advantages of the fast MPC in aspect of control effect and speed, compared with explicit model predictive control, traditional MPC and PID method.
模型预测控制 / 快速预测 / 直升机 / 在线优化. {{custom_keyword}} /
/
〈 | 〉 |