基于状态反馈线性化的阀控非对称缸系统模型预测控制  

Model Predictive Control of Valve-controlled Asymmetric Cylinder System Based on State Feedback Linearization

作　　者：戴博见 陶建峰[1,2] 孙浩 刘成良 DAI Bo-jian;TAO Jian-feng;SUN Hao;LIU Cheng-liang(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240;State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《液压与气动》2023年第1期70-76,共7页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(52075320)。

摘　　要：针对使用PID方法对阀控非对称液压缸位置控制中出现的超调问题,以及传统非线性模型预测控制优化求解计算时间较长的问题,提出了一种基于状态反馈线性化的阀控非对称缸模型预测控制方案。首先建立了阀控系统状态空间模型,运用微分几何理论讨论系统可反馈线性化的充要条件,并将非线性系统映射为新坐标空间内的线性系统模型;设计了反馈线性化模型预测控制器(Feedback Linearization Model Predictive Controller,FLMPC),讨论了线性系统下的约束问题,其中由于系统仿真预测时域远小于系统响应时间,对模型预测控制的损失函数加以修正。结果证明,在相同输入情况下,反馈线性化系统与原系统的位置误差满足控制需要,且在保证被控对象快速稳定控制的条件下,对比该算法与非线性模型预测控制的单步计算时间,证明该算法能够缩短计算时间。A model predictive control strategy based on feedback linearization for the valve-controlled asymmetric cylinder system is proposed to deal with the problems of overshooting in position control of valve-controlled system using PID method and consuming too much time using traditional nonlinear model predictive control method.Firstly,the state-space model of valve-controlled system has been established,and using differential geometry theory to discuss sufficient and necessary conditions for feedback linearization,and the nonlinear system is mapped into a linear system model in a new coordinate space.Then,feedback linearization model predictive controller(FLMPC)has been designed,and the problem of linear system constrain has been discussed.Since the time domain of system simulation prediction is much smaller than the system response time,the loss function of model predictive controller is modified.The simulation analysis results show that under the same input conditions,the position error between the feedback linearized system and the original system meets the control requirements,and under the condition of ensuring the fast and stable control of the controlled object,the algorithm proposed in this paper is compared with that of the nonlinear system.The single-step computation time of linear model predictive control proves that the proposed algorithm can shorten the computation time.

关 键 词：非对称阀控液压缸 位置控制 反馈线性化 模型预测控制 

分 类 号：TH137[机械工程—机械制造及自动化]