基于广义预测控制的智能岩石试验机研究  

Intelligent Rock Testing Machine Based on Generalized Predictive Control

作　　者：高继开 田军[1] 姚志宾 何本国 GAO Ji-kai;TIAN Jun;YAO Zhi-bin;HE Ben-guo(Key Laboratory of Ministry of Education on Safe Mining of Deep Metal Mines,Northeastern University,Shenyang,Liaoning 110819)

机构地区：[1]东北大学深部金属矿山安全开采教育部重点实验室,辽宁沈阳110819

出　　处：《液压与气动》2020年第11期74-80,共7页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51809038)。

摘　　要：岩石强度实验控制过程复杂,试验机PID参数调节费时费力,为此提出一种智能控制策略,将广义预测控制(GPC)应用到岩石压力试验机中。GPC使用遗忘因子最小二乘法对被控对象在线辨识,自适应不同种类岩石、不同加载阶段和不同实验环境的变化,通过模型多步预测和二次型性能指标滚动优化规避PID参数复杂的调节过程。实验证明,GPC控制试验机恒速率加载时,系统输出响应迅速,跟随性好,无稳态误差,使用GPC控制策略的智能岩石试验机可以满足岩石变形实验的加载需求,具有良好的工程推广价值。The rock strength test control process is complicated,and the adjustment of PID parameters of the testing machine takes much time and effort.Therefore,an intelligent control strategy is proposed by applying the generalized predictive control(GPC)method to the rock mechanics testing machine.GPC can identify the controlled object online using forgetting factor least squares method.It can adapt to various changes cauesed by different rock types,different loading stages and different experimental environments.The complicated adjustment process of PID parameters can be avoided by multi-step model prediction and rolling optimization of quadratic performance indicators.The experiments prove that when the GPC control test machine applies loads at a constant rate,the system output response is fast,and the followability is good.Besides,there is no steady-state error.The intelligent rock test machine using the GPC control strategy can meet the loading requirements of rock deformation experiments,and it has good engineering promotion values.

关 键 词：岩石试验机 自适应 广义预测控制 最小二乘辨识 

分 类 号：TH137[机械工程—机械制造及自动化] TH873