CAJ | 학술논문

为了解决含间隙机械系统最优控制的计算复杂度问题,设计了基于分段仿射(PWA)模型的约束时间最优预测控制器.为了降低在线控制的计算复杂度,利用动态规划方法在模型的状态和参考跟踪速度的范围内提前计算出了离线的控制律.在跟踪参考速度的实验中,约束时间最优预测控制器具有较好的跟踪控制性能,与约束有限时间最优控制器相比,计算时间降低了十几倍,因此,适合于小采样时间系统的实时跟踪控制.
위료해결함간극궤계계통최우공제적계산복잡도문제,설계료기우분단방사(PWA)모형적약속시간최우예측공제기.위료강저재선공제적계산복잡도,이용동태규화방법재모형적상태화삼고근종속도적범위내제전계산출료리선적공제률.재근종삼고속도적실험중,약속시간최우예측공제기구유교호적근종공제성능,여약속유한시간최우공제기상비,계산시간강저료십궤배,인차,괄합우소채양시간계통적실시근종공제.
A constrained time-optimal predictive controller based on the piecewise affine (PWA) model is designed for solving the computation complexity of optimal control problem for mechanical system with backlash. For reducing computation burden of online implementation, the control law is computed offline for the range of states and references tracking speed by dynamic programming. In the experiments of tracking the reference speed, it is demonstrated that the constrained time-optimal predictive controller has better tracking control performance and reduces the computation time about ten times when compared with the constrained finite time optimal controller, therefore, the proposed approach and controller are suitable for real-time tracking control for systems with small sampling time.