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

作　　者：张聚[1] 余蓉[1] ZHANG Ju YU Rong(Zhijiang College, Zhejiang University of Technology, Shaoxing 312030)

机构地区：[1]浙江工业大学之江学院,绍兴312030

出　　处：《系统科学与数学》2016年第10期1618-1629,共12页Journal of Systems Science and Mathematical Sciences

基　　金：国家自然科学基金项目(60974042)资助课题

摘　　要：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 ex- ploits 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 per- formance 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 aremade 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.

关 键 词：模型预测控制 快速预测 直升机 在线优化 

分 类 号：V275.1[航空宇航科学与技术—飞行器设计]