阀控缸系统线性矩阵不等式凸优化算法鲁棒模型预测控制  

obust Model Predictive Control with Linear Matrix Inequality Convex Optimization Algorithm for Valve-controlled Hydraulic System

作　　者：蔡会 延皓[1] CAI Hui;YAN Hao(School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《液压与气动》2024年第11期181-188,共8页Chinese Hydraulics & Pneumatics

摘　　要：针对阀控缸系统力跟踪控制过程中受到位置干扰,导致控制精度难以保证的问题,提出一种基于线性矩阵不等式凸优化算法的鲁棒模型预测控制策略。将一般模型预测控制的最小化性能指标转化为求解满足线性矩阵不等式组的最优化问题,对其进行稳定性分析。考虑输入输出受约束的离散时变不确定性系统,讨论该控制策略对系统参数不确定性的鲁棒性以及对系统外扰动的抑制能力。结果表明,在不同频率位置干扰信号作用下,该控制策略比一般模型预测控制具有更好的跟踪效果和鲁棒性。Position interference in valve-controlled cylinder systems during force tracking control,which jeopardizes control precision,is addressed by proposing a robust model predictive control strategy based on a linear matrix inequality convex optimization algorithm.The minimization performance index of standard model predictive control is transformed into an optimization problem that satisfies a set of linear matrix inequalities,followed by stability analysis.The robustness of the controller against system parameter uncertainties and its ability to suppress external disturbances are discussed within the framework of a discrete-time uncertain system with input/output constraints.Simulation results demonstrate that the proposed control strategy exhibits superior tracking performance and robustness compared to standard model predictive control under various frequency-based position disturbance signals.

关 键 词：阀控对称缸系统 鲁棒模型预测控制 力跟踪控制 线性矩阵不等式 

分 类 号：TH137[机械工程—机械制造及自动化]