CAJ | 학술논문

　　针对传统的模型预测控制器鲁棒性较差及模糊PID控制系统比较复杂的问题，提出了利用增广非最小状态空间模型与模型预测控制相结合的稳定平台预测控制。建立了稳定平台广义被控对象的数学模型，以增广形式的非最小状态空间模型为基础，结合滚动时域控制原则和线性二次型最优控制，通过对稳定平台离散模型的非最小状态空间形式进行增广变换，给出了基于Laguerre函数的状态反馈增益矩阵算法，设计了增广非最小状态模型下的预测控制器，实现了对导向钻井稳定平台控制系统的仿真研究。仿真结果表明稳定平台预测控制系统可以很好地满足钻井工程对控制精度和动态特性的要求，而且对有时变性的盘阀摩擦干扰力矩及模型参数摄动具有较强的鲁棒性。
　　침대전통적모형예측공제기로봉성교차급모호PID공제계통비교복잡적문제，제출료이용증엄비최소상태공간모형여모형예측공제상결합적은정평태예측공제。건립료은정평태엄의피공대상적수학모형，이증엄형식적비최소상태공간모형위기출，결합곤동시역공제원칙화선성이차형최우공제，통과대은정평태리산모형적비최소상태공간형식진행증엄변환，급출료기우Laguerre함수적상태반궤증익구진산법，설계료증엄비최소상태모형하적예측공제기，실현료대도향찬정은정평태공제계통적방진연구。방진결과표명은정평태예측공제계통가이흔호지만족찬정공정대공제정도화동태특성적요구，이차대유시변성적반벌마찰간우력구급모형삼수섭동구유교강적로봉성。
The paper presents a model predictive controller based on the augmented non-minimal state-space model in stabilized platform according to the poor robustness of traditional model predictive controller and the serious complexity of fuzzy PID con-trol system. Considering the actual situation a mathematical model of the stabilized platform generalized plant is established. Through the combination with receding horizon control principle and linear quadratic optimal control, an augmented non-minimal state-space model predictive controller is designed on the basis of the augment form of augmented non-minimal state-space model. An algorithm of state feedback gain matrix with Laguerre function is proposed, and simulation study is realized with MATLAB for steering drilling stabilized platform control system. The simulation results show that stabilized platform predictive control system can well satisfy the requirements of the drilling engineering for control precision and dynamic characteristics, and the system has strong robustness to the model perturbation and the disc valve friction disturbing torque with time variation.