非线性预测控制在三容水箱液位控制系统中的应用  

Application of nonlinear predictive control in three-tank liquid-level control system

作　　者：孙京诰 薛瑞 袁吴月 Sun Jinggao;Xue Rui;Yuan Wuyue(Key Laboratory of Advanced Control and Optimization for Chemical Processes,Ministry Education,East China University of Science and Technology,Shanghai 200237,China)

机构地区：[1]华东理工大学化工过程先进控制与优化技术教育部重点实验室,上海200237

出　　处：《南京理工大学学报》2018年第4期439-444,452,共7页Journal of Nanjing University of Science and Technology

摘　　要：为了进一步提高非线性模型预测控制的计算速度、控制精度和抗干扰能力,该文提出了一种基于无迹卡尔曼滤波和快速阶梯预测控制结合的控制器设计方法。该方法在快速阶梯预测控制器的基础上,加入了基于奇异值分解的无迹卡尔曼滤波算法(Singular value decomposition unscented Kalman filter),在反馈校正之前先通过滤波降低噪声干扰,从而降低控制误差。通过三容水箱液位控制模型对该控制器设计方法进行了仿真验证,从仿真结果中可以看出该控制器能够在计算速度达标的前提下,提高系统的控制精度和稳定性。该结果证明了改进后的控制器能进一步有效克服噪声、模型失配等情况,很好地提升了控制器的可靠性。In order to further improve the calculation speed,control precision and stability of the nonlinear model predictive control,a controller design method based on the combination of Singular Value Decomposition Unscented Kalman Filter and Fast Ladder Predictive control is presented in this paper.Based on the Fast Ladder Predictive Controller,this method adds the Unscented Kalman Filter algorithm to reduce the noise interference and the control error.The controller design method is validated by the level control model of the three-tank water level.Simulation results prove that the method can improve the control precision and stability of the system under the noisy conditions,while ensuring the calculation speed.

关 键 词：非线性多变量系统 快速预测控制 无迹卡尔曼滤波 三级液位控制系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]