基于自适应模型预测的物伞系统速度跟踪控制  

Speed tracking control of object parachute system based on adaptive model prediction

作　　者：陈立锋[1] 石添文 黄良沛[1] 刘文雯 CHEN Lifeng;SHI Tianwen;HUANG Liangpei;LIU Wenwen(School of Mechanical and Electrical Engineering,Hunan University of Science and Technology,Xiangtan 411201,China)

机构地区：[1]湖南科技大学机电工程学院,湖南湘潭411201

出　　处：《兵器装备工程学报》2024年第6期175-180,共6页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(52075163);湖南省研究生科研创新项目(cx20221053)。

摘　　要：针对空投易碎易爆物品无速度跟踪及速度波动大的问题,提出自适应模型预测控制(model predictive control,MPC)方法对物伞系统速度进行控制跟踪。以线性离散化物伞系统动力学模型为基础,通过迭代法构建速度跟踪预测模型,依据实际需求设计目标函数及约束条件,在自适应MPC控制器内进行优化求解;引入卡尔曼滤波作为状态估计器,让系统具备对自身状态量变化的感知,提供估计状态量给控制器,实现系统整体反馈校正。开展无风条件和有风条件下自适应MPC控制的物伞系统速度跟踪性能研究,结果表明,此控制方法能够实现对期望速度的良好跟踪;在随机扰动下进行物伞系统速度跟踪控制鲁棒性研究,对比分析了自适应MPC方法和PID控制方法的速度跟踪性能,结果表明,自适应MPC控制的物伞系统速度振荡小于PID控制,其具有较强的抗非线性扰动能力,为实现物伞系统速度控制提供了新方法。Aiming at the problem of no velocity tracking and large velocity fluctuation of airdropped fragile and explosive objects,an adaptive model predictive control(MPC)method was proposed to control and track the velocity of the object parachute system.Based on the linear discretization umbrella system dynamics model,the velocity tracking prediction model was constructed by the iterative method,the objective function and constraints were designed according to the actual demand,and the optimization solution was carried out in the adaptive MPC controller.The Kalman filter was introduced as the state estimator to make the system have the perception of its own state changes,providing the estimated state to the controller,and realizing the overall feedback correction of the system.The speed tracking performance of the object umbrella system with adaptive MPC control was studied under the conditions of no wind and wind.The results show that the control method can achieve good tracking of the desired speed.The speed tracking performance of the adaptive MPC method and PID control method is compared and analyzed.The results show that the speed oscillation of the adaptive MPC control is less than that of PID control,and the adaptive MPC control has strong ability to resist nonlinear disturbance,which provides a new method for the realization of the speed control of the umbrella system.

关 键 词：物伞系统 自适应模型预测控制 卡尔曼滤波器 速度跟踪控制 PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V249.1[自动化与计算机技术—控制科学与工程]