具有稳定性的模型预测控制直接算法

针对参数未知、具有终端约束的非线性系统 ,提出了一种新的模型预测控制直接算法 ,该方法避免了求解逆矩阵 ,减小了计算量。最后通过仿真实例证明了该算法的可行性。     

Robust model predictive current control strategy for three-phase voltage source PWM rectifiers

Traditional model predictive control (MPC) strategy is highly dependent on the model and has poor robustness. To solve the problems, this paper proposes a robust model predictive current control strategy based on a disturbance observer. According to the current predictive model of three-phase voltage source PWM rectifiers (VSR), voltage vectors were selected by minimizing current errors in a fixed time interval. The operating procedure of the MPC scheme and the cause of errors were analysed when errors existed in the model. A disturbance observer was employed to eliminate the disturbance generated by model parameters mismatch via feed-forward compensation, which strengthened the robustness of the control system. To solve the problem caused by filter delay in MPC control, an improved compensation algorithm for the observer was presented. Simulation and experimental results indicate that the proposed robust model predictive current control scheme presents a better dynamic response and has stronger robustness compared with the traditional MPC.     

Robust speed control algorithm with disturbance observer for uncertain PMSM

This article suggests a robust cascade speed control algorithm for a permanent magnet synchronous motor (PMSM) combining the classical feedback linearising (FL) method and the disturbance observers (DOBs) without the integrators. The contributions of this method are twofold. The first one is to provide the simple DOBs for not only guaranteeing the closed-loop performance recovery property but also removing the steady-state errors without the integrators with respect to the tracking errors. The second one is to prove that the inner and outer loops are stabilised by the proposed cascade-type controller, simultaneously. The simulation and experimental results reveal that the proposed method maintains the speed tracking performance to be satisfactory for a wide operating region with the fixed control gain despite a plant-model mismatch where a 3-kW interior PMSM is utilised.     

变系数降频模型预测直接功率控制

模型预测直接功率控制是三相并网逆变器有效的控制策略之一,但是为了维持稳定快速的功率跟踪,通常需要一个较高的采样频率,造成不必要的开关损耗。定系数降频控制策略可以降低有效地开关动作次数,但是不方便确定合适的开关函数系数,且降低了系统性能。变系数降频控制策略可以同时实现稳定的功率跟踪和开关频率降低。仿真和实验结果显示,与定系数降频控制策略相比,变系数策略具有更优越的特性。     

统一潮流控制器预测直接功率控制策略研究

在此以基于矩阵变换器为基础的统一潮流控制器为研究对象,介绍了当前统一潮流控制器的发展状况以及控制策略现状,在此基础上提出预测直接功率控制策略用于该系统,并建立了预测模型,以便有效提高系统的动静态性能。通过Matlab仿真平台搭建了系统模型,通过仿真试验对比了PI控制和预测直接功率控制的波形效果。仿真结果表明了所提控制策略的正确性和有效性,有利于电力系统安全可靠运行和数字化实现。     

Robust control using neural network uncertainty observer for linearinduction motor servo drive

A robust controller, that combines the merits of integral-proportional (IP) position control and neural network (NN) observed technique, is designed for a linear induction motor (LIM) servo drive in this study. First, the secondary flux of the LIM is estimated using a sliding-mode flux observer on the stationary reference frame and the feedback linearization theory is used to decouple the thrust and the flux amplitude of the LIM. Then, the IP position controller is designed according to the estimated mover parameters to match the time-domain command tracking specifications. Moreover, a robust controller is formulated using the NN uncertainty observer, which is implemented to estimate the lumped uncertainty of the controlled plant, as an inner-loop force controller to increase the robustness of the LIM servo drive system. Furthermore, in the derivation of the online training algorithm of the NN, an error function is used in the Lyapunov function to avoid the real-time identification of the system Jacobian. In addition, to increase the speed and accuracy of the estimated flux, the sliding-mode flux observer is implemented using a 32 bit floating-point digital signal processor (DSP) with a high sampling rate. The effectiveness of the proposed control scheme is verified by both the simulated and experimental results     

Robust autoregressive predictive power control method for mobile CDMA systems

A closed-loop power control (CLPC) scheme with a multistep (indicating multiple prediction steps) linear autoregressive predictor is presented. The proposed CLPC relies on low-rate sample vector based autoregressive prediction. Compared to currently available predictive CLCP schemes, it demonstrates particularly robust performance in the presence of large loop delays and channel estimation errors.     

Fuzzy predictive filters in model predictive control

The application of model predictive control (MPG) to complex, nonlinear processes results in a nonconvex optimization problem for computing the optimal control actions. This optimization problem can be addressed by discrete search techniques, such as the branch-and-bound method, which has been successfully applied to MPG. The discretization, however, introduces a tradeoff between the number of discrete actions (computation time) and the performance. This paper proposes a solution to these problems by using a fuzzy predictive filter to construct the discrete control alternatives. The filter is represented as an adaptive set of control actions multiplied by a gain factor. This keeps the number of necessary alternatives low and increases the performance. Herewith, the problems introduced by the discretization of the control actions are diminished. The proposed MPC method using fuzzy predictive filters is applied by the temperature control of an air-conditioned test room. Simulations and real-time results show the advantages of the proposed method     

超临界机组的多变量模型预测控制

本文从工程应用角度总结和分析了超超临界机组控制发展现状和控制难点,在分析了超超临界机组输入-输出关系基础上,提出了一种以输入为燃料量、汽轮机调门开度和给水流量以及输出为机前压力、机组负荷和分离器出口蒸汽温度的火电机组多模型预测控制方案,并给出了具体实施方案与步骤,仿真试验结果表明所提出的方法控制效果良好,具有较好的推广应用价值。     

基于ESO磁链观测器的直接转矩控制的研究

讨论直接转矩控制方法在永磁同步电机中的应用问题,利用MATLAB仿真工具对永磁同步电机直接转矩控制系统仿真。针对直接转矩控制低速时存在较大转矩脉动的问题,采用观测器方法克服传统磁链模型中参数的不确定性对磁链观测精度的影响,保证全速范围内磁链的准确估计,提高控制性能。仿真表明观测磁链具有较高的精度,对电阻的不确定变化具有较强的鲁棒性,并可准确估计无速度传感器的速度及位置。     

基于ESO磁链观测器的直接转矩控制的研究

讨论直接转矩控制方法在永磁同步电机中的应用问题,利用MATLAB仿真工具时永磁同步电机直接转矩控制系统仿真.针对直接转矩控制低速时存在较大转矩脉动的问题,采用观测器方法克服传统磁链模型中参数的不确定性对磁链观测精度的影响.保证全速范围内磁链的准确估计.提高控制性能.仿真表明观测磁链具有较高的精度,对电阻的不确定变化具有较强的鲁棒性.并可准确估计无速度传感器的速度及位置.     

Digital control of induction motor current with deadbeat responseusing predictive state observer

For a high-power induction motor drive, the switching frequency of the inverter cannot become higher than one kilohertz, and such a switching frequency produces a large current ripple, which then produces torque ripple. To minimize the current ripple, a method based on deadbeat control theory for current regulation is proposed. The pulsewidth modulation (PWM) pattern is determined at every sampling instant based on stator current measurements, motor speed, current references, and rotor flux vector, which is predicted by a state observer with variable poles selection, so that the stator currents are controlled to be exactly equal to the reference currents at every sampling instant. The proposed method consists of two parts: (1) derivation of a deadbeat control and (2) construction of a state observer that predicts the rotor flux and the stator currents in the next sampling instant. This paper describes a theoretical analysis, computer simulations and experimental results     

A model predictive control approach for time optimal point-to-point motion control

This paper presents a new model predictive control method for time-optimal point-to-point motion control of mechatronic systems. The formulation of time-optimal behavior within the model predictive control framework and the structure of the underlying optimization problem are discussed and modifications are presented in order to decrease the computational load of the numerical solution method such that sampling rates in the millisecond range and long prediction horizons for large point-to-point motions are feasible. An extensive experimental validation on a linear motor drive and an overhead crane setup demonstrates the advantages of the developed time-optimal model predictive control approach in comparison with traditional model predictive control.     

基于滑模状态观测器的不确定控制系统鲁棒性诊断

针对不确定控制系统的故障诊断问题,通过对滑模控制系统的鲁棒性分析,提出了利用滑模观测器进行故障诊断的方法。该方法能够稳定地估计不确定控制系统正常扰动下的状态响应,进而对于系统出现的故障扰动实现检测诊断,仿真结果验证了该方法的有效性。     

Embedded explicit model predictive vibration control

This article presents an embedded active vibration suppression system featuring real-time explicit model predictive control (EMPC) that is implemented on a microcontroller unit (MCU). The EMPC controller minimizes the tip deflection of an aluminum cantilever beam driven by piezoceramic actuators, gaining its feedback from direct position measurements. The output and input performance of the EMPC method is compared to an analogously tuned positive position feedback (PPF) controller. An extensive analysis is provided on the cycle timing and memory needs of the explicit predictive vibration control scheme. The results demonstrate that the EMPC controller may achieve the same vibration suppression results compared to PPF with less input effort, while inherently respecting process constraints. Furthermore, we show that EMPC task execution timing is comparable in the random access memory (RAM) and read only memory (ROM) alternatives, suggesting that numerous current microcontrollers are suitable for EMPC-based active vibration control, in case the prediction model is kept simple.     

基于操作轨迹模型的非线性预测控制算法

针对工业过程的非线性,本文首先提出了一种操作轨迹非线性模型的辨识方法:根据调度变量的操作轨迹,选取若干个典型工作点;在各个典型工作点,辨识各自的线性模型;根据测试数据以及过渡数据,得到全局插值非线性模型.在此基础上,本文进一步提出一种基于操作轨迹模型的非线性预测控制算法,并采用多步线性化方法进行问题求解.由于仅需要在典型工作点上进行测试,降低了全局建模的辨识成本,而且控制品质好,仿真结果表明了该算法的有效性.     

Robust friction state observer and recurrent fuzzy neural network design for dynamic friction compensation with backstepping control

In this article, we investigate a robust friction compensation scheme for the purpose of accomplishing high-precision positioning performance in a servo mechanical system with nonlinear dynamic friction. To estimate the friction state and tackle the robustness problem for uncertainty, a recurrent fuzzy neural network (RFNN) and reconstructed error compensator as well as a robust friction state observer are developed. The asymptotic stability of the series of friction compensation methodologies are verified from the Lyapunov’s stability theory. Some simulations and experiments on a frictional servo mechanical system were carried out to evaluate the effectiveness of the proposed control scheme.     

Robust decoupled control of direct field-oriented induction motor drive

This paper focuses on the development of a decoupling mechanism and a speed control scheme based on total sliding-mode control (TSMC) theory for a direct rotor field-oriented (DRFO) induction motor (IM). First, a robust decoupling mechanism including an adaptive flux observer and a sliding-mode current estimator is investigated to decouple the complicated flux and torque dynamics of an IM. The acquired flux angle is utilized for the DRFO object such that the dynamic behavior of the IM is like that of a separately excited dc motor. However, the control performance of the IM is still influenced seriously by the system uncertainties including electrical and mechanical parameter variation, external load disturbance, nonideal field-oriented transient responses, and unmodeled dynamics in practical applications. In order to enhance the robustness of the DRFO IM drive for high-performance applications, a TSMC scheme is constructed without the reaching phase in conventional sliding-mode control (CSMC). The control strategy is derived in the sense of Lyapunov stability theorem such that the stable tracking performance can be ensured under the occurrence of system uncertainties. In addition, numerical simulations as well as experimental results are provided to validate the effectiveness of the developed methodologies in comparison with a model reference adaptive system flux observer and a CSMC system.     

Robust vector control of induction motors using full-order observer in consideration of core loss

This paper proposes a method for designing a robust full-order observer for vector-controlled induction motors taking core loss into account. Although conventional research focuses on parameter identification, global stability of the identification remains questionable. Therefore, robustness against some parameters is required. This paper describes the design of a robust full-order observer which takes core loss into account, using both the gain-scheduled H/sub /spl infin// control and the linear matrix inequality technique. This design always results in a stable controller. The robustness of the proposed method against variations of resistances is evaluated by experiments.