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摘要: 提出了一种基于专家系统及变步长预测控制的实时非线性系统控制方法.变步长一步 预测的使用不但打破了原有采样时间对预测控制最小步长的限制,而且有效地避开了复杂的非 线性推导.结合系统控制目标,设计了一类新的系统优化性能指标函数.利用专家系统实时地对 系统优化性能指标当中的控制参数进行修正,有效地提高了滚动优化的效率,从而实现对复杂 非线性系统的实时控制.利用这种方法,有效地实现了对三级倒立摆的稳定实时控制.Abstract: A new method based on expert system and predict control is proposed to realize real time control of nonlinear systems.The new concept of variable length one-step prediction is put forward to break up the sampling interval restriction,and avoid the complex calculation.After fully considering the desired aim of the system,a new cost function is designed.Expert system is also used to determine control parameters for the index function in real time.This method is applied to the controlling of a triple inverted pendulum and good result is obtained.
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Key words:
- Nonlinear control /
- predictive control /
- inverted pendulum
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