【作者】 杨志建；

【导师】 曾春年；

【作者基本信息】 武汉理工大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 自从维纳(1894-1964)创立控制论以来,自动控制理论及其应用已经历了半个多世纪的进步与发展。七十年代后期,随着数字计算机逐渐向着小型、高速、大容量、低成本方向发展,终于兴起了一类新型的计算机控制算法一预测控制。 预测控制不是某一种统一理论的产物,它是在工业实践过程中独立发展起来的,其基本出发点与传统PID控制不同。通常的PID控制,是根据过程当前的和过去的输出测量值与设定值的偏差来确定当前的控制输入。而预测控制不但利用当前的和过去的偏差值,还利用预测模型来预估过程未来的偏差值,并据此而滚动确定当前最优输入策略。因此,从基本思想上看,预测控制优于PID控制。本文重点研究CLARK于1987年提出的广义预测控制理论。作为一种自校正控制算法,广义预测控制是针对随机离散系统提出的。近年来,广义预测控制吸引了众多学者对其进行探讨,并有不少文献和著作发表,同时在石油、化工、电力、冶金、机械等工业部门的控制系统得到了成功的应用。 本论文主要是关于预测控制理论对于飞机运动模型的研究。首先,本文给出飞机的非线性模型,该模型为一个四输入四输出的,具有九个状态变量的复杂的状念空间模型;然后从简单的单输入单输出模型到二输入二输出模型,再到一些相对特殊的线性系统的模型,由浅入深的研究了广义预测控制理论的应用;接着结合模型算法控制对非最小相位多变量系统问题进行探讨,同时讨论了非线性控制理论;最后,本论文应用广义预测控制实现了对复杂的飞机非线性模型的稳定控制,达到了控制目标,并给出了仿真结果。 本论文主要贡献为广义预测控制理论控制算法的研究及控制程序的实现。值得指出的是,该控制程序可用于几乎所有线性多变量模型,包括本论文中所述及的非最小相位的多变量线性模型;另外,具有白噪声干扰的线性系统模型,具有大时间延迟的线性系统模型等都可以适用于该控制程序。本论文解决的最大的难点在于飞机非线性模型的控制,由于该模型比较复杂,有九个状念变量,并有较强的非线性。文中,对电机转速控制模型,水箱温度水位控制模型,化工反应模型等结合预测理论进行了控制仿真,并得到了满意的控制结果。更多还原

【Abstract】 Since introduced by Norbert Wiener (1894-1964), control theory has endured a long period development. In the end of 70’s,coming up with the development of digital computer to minitype, high speed, huge capacity and low-cost, predictive control was born.Predictive control, which has difference at the initial point of theory from PID control theory, is not an outlet from any of other theories, but developed from industrial reality. PID control theory decides the controller generally based on past information and the set point of the output. However, predictive control, not only uses the past and the present information, but also uses the future information gained by predictive model, and then decides the best control strategy based on incursion of step. Predictive control is prior to PID control theory from the point of idealism. This article is mainly about the Generalized Predictive Control (GPC) theory, which brought by CLARK in 1987. As a kind of self-tuning control algorithm, GPC is used in discrete system. Recent years, GPC attracted a lot of attention, brought many reference and papers, and got lots of successful applications in control systems of some industrial fields such as Petroleum, Chemical, Power, Metallurgical, Mechanical, etc.With GPC theory, an aircraft dynamical model is studied in this thesis. Firstly, a dynamic model of an aircraft is developed. This model is a nonlinear state-space model with four input variables, four output variables and nine state variables. Secondly, from single input single output model to two inputs two outputs model, and then to some relatively complex linear model, the application of GPC theory is studied. Nonminimum-phase process is also studied in the field of linear and nonlinear system theory by model-algorithmic control. At last, a nonlinear aircraft model is studied with GPC controller. A stable control system is realized, and pleased simulation result is given in the end of this article.The major contribution of this thesis is the development and implementation of GPC control algorithms and realization of a GPC program which is able to regulate different linear multi-input multi-output processes. Nonminimum-phase system, linear system with white noise or with big time-delay, all can be applied to this GPC program. The most difficult problem solved is the access of stable control result, for the complexity of the nonlinear model. A motor model, a water tank model and a chemical reactor model are also studied, and pleased simulation results are accessed.更多还原