Model predictive control with fractional-order delay compensation for fast sampling systems  

作　　者：Ze ZHOU Zhitao LIU Hongye SU Liyan ZHANG 

机构地区：[1]State Key Laboratory of Industrial Control Technology,Institute of Cyber-Systems and Control,Zhejiang University,Hangzhou 310027,China [2]School of Automation,Wuhan University of Technology,Wuhan 430070,China

出　　处：《Science China(Information Sciences)》2021年第7期161-176,共16页中国科学（信息科学）（英文版）

基　　金：This work was partially supported by National Key R&D Program of China(Grant No.2018YFA0703800);Science Fund for Creative Research Group of National Natural Science Foundation of China(Grant No.61621002);National Natural Science Foundation of China(Grant No.61873233);Zhejiang Key R&D Program(Grant No.2021C01198);Ningbo Science and Technology Innovation 2025 Major Project(Grant No.2019B10116).

摘　　要：Model predictive control(MPC)is widely used in fast sampling systems owing to its fast regulating ability.However,the sampling delay is a key issue and tends to be a fractional multiple of the sampling period.If the fractional-order delay is not accurately offset,the controller output will exhibit errors,thus resulting in oscillations in controlled system.Moreover,the MPC delay compensation algorithm is limited to the computation time.To address the problems of fractional delay and computational burden in fast sampling systems,we propose a new method to compensate for the fractional-order sampling delay.First,we use a finite-impulse-response fractional delay filter based on a Lagrange interpolation polynomial to approximate the fractional portion.Moreover,we prove that high accuracy and simplicity can be ensured when the polynomial order is one.Then,we estimate the current state variable using the delayed sampling signal and control signals of past moments.Further,we obtain the current control signal according to the estimated state variable.By considering the simultaneous existence of computational and sampling delays,a full compensation strategy is proposed.Computational simulation results validate the proposed MPC algorithm with fractional-order delay compensation and demonstrate its advantages.

关 键 词：model predictive control fast sampling systems sampling delay FRACTIONAL-ORDER Lagrange interpolation polynomial 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]