基于干扰观测器的复杂非线性系统优化控制方法  

Optimal control method for complex nonlinear systems based on disturbance observer

作　　者：陈海 郭肖旺 刘琛 封成玉 陈聪 Chen Hai;Guo Xiaowang;Liu Chen;Feng Chengyu;Chen Cong(China Electronics Technology Group Corporation No.6 Research Institute,Beijing 100083,China;CLP Intelligent Technology Co.,Ltd.,Beijing 102209,China;Faculty of Information Technology,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]中国电子信息产业集团有限公司第六研究所,北京100083 [2]中电智能科技有限公司,北京102209 [3]北京工业大学信息学部,北京100124

出　　处：《东南大学学报（自然科学版）》2024年第4期1046-1052,共7页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金创新研究群体资助项目.

摘　　要：为了提高具有未知干扰的复杂非线性系统的控制性能和运行性能,提出了一种基于干扰观测器的复杂非线性系统优化控制方法(IOCM).该方法设计了一个基于模糊神经网络的模型逼近器来捕捉系统的非线性动力学,并利用干扰观测器来描述系统的未知干扰,以获得更准确的系统预测模型.然后,在多目标模型预测控制的框架下,提出了一种具有协同成本函数和多梯度算法的优化控制结构,以综合求解设定点和控制律.采用城市污水处理过程基准仿真平台(BSM1)验证所提方法的有效性.实验结果表明:暴雨天气条件下平均出水水质(EQ)为6711 mg/L、平均运行能耗(EC)为3805 kW·h;对比其他分步实现的优化控制方法,IOCM具有较好的鲁棒性,能够提高非线性系统的优化控制性能.To improve the control performance and operational performance of complex nonlinear systems with unknown disturbances,an optimal control method for complex nonlinear systems based on disturbance observer(IOCM)is proposed.In order to obtain a more accurate system prediction model,a model approximator based on fuzzy neural networks is designed to capture the nonlinear dynamics,and a disturbance observer is used to describe the unknown disturbances.Then,within the framework of multi-objective model predictive control,an optimal control structure with collaborative cost function and multi-gradient algorithm is proposed to comprehensively solve set-points and control laws.The effectiveness of the method is verified using benchmark simulation model 1(BSM1)of municipal wastewater treatment process.Experimental results show that the average effluent quality(EQ)is 6711 mg/L,and the average operating energy consumption(EC)is 3805 kW·h under rainstorm weather conditions.Compared with other step-by-step optimal control methods,IOCM has better robustness and can improve the optimization control performance of nonlinear systems.

关 键 词：非线性系统 模型逼近器 干扰观测器 复杂非线性系统优化控制方法 

分 类 号：U461[机械工程—车辆工程] TP308[交通运输工程—载运工具运用工程]