基于参数辨识的电液伺服非线性模型预测控制
Nonlinear Model Predictive Control of Electro-Hydraulic Servo Based on Parameter Identification
周成宝 1侯艳茹 2刘珂 1于存贵2
作者信息
- 1. 杭州智元研究院有限公司,杭州 310024
- 2. 南京理工大学机械工程学院,南京 210094
- 折叠
摘要
针对电液伺服系统存在的非线性、模型不确定性和约束问题,提出了一种基于参数辨识的非线性模型预测控制方法.利用递推最小二乘法辨识电液伺服系统模型参数,以克服模型不确定性;基于模型参数辨识结果,考虑负载流量非线性、控制量约束和状态约束需求,构建性能指标函数,设计了非线性模型预测控制方法,并进行闭环稳定性分析.仿真结果表明,辨识方法可以较快估计出模型参数,最大估计误差为1.802%,相比于PID控制,控制算法的最大轨迹跟踪误差减小了 88.66%.所提方法能有效处理系统约束与非线性,具有较好的控制效果.
Abstract
Aiming at the problems of nonlinearity,model uncertainty and constraints in electro-hydraulic servo system,a nonlinear model predictive control method based on parameter identification is proposed.The model parameters of electro-hydraulic servo system are identified by recursive least square method to overcome the uncertainty of the model.Based on the results of model parameter identification,the perform-ance index function is constructed considering the load flow nonlinearity and requirements of control quanti-ty constraint and state constraint.The nonlinear model predictive control method is designed,and the closed-loop stability analysis is carried out.The simulation results show that the identification method can quickly estimate the model parameters,the maximum estimation error is 1.802%,and the maximum trajectory tracking error of the control algorithm is reduced by 88.66%compared with PID control.The proposed method can effectively deal with system constraints and nonlinearity,and has good control effect.
关键词
电液伺服系统/非线性模型预测控制/递推最小二乘法/不确定性Key words
electro-hydraulic servo system/nonlinear model predictive control/recursive least squares method/uncertainty引用本文复制引用
出版年
2024
NETL
NSTL
万方数据