Multi-rate Distributed Predictive Control and Its Application to Looper Control System of Hot Strip Rolling
-
摘要: 多智能体协调控制系统更适合采用分布式控制方式，但是处理智能体之间的耦合影响是分布式控制的一个难点.本文针对串联结构下的多智能体系统，提出一类多速率分布式预测控制策略，异步更新多智能体的控制律，能够充分考虑智能体之间的耦合影响，提高系统的稳定性，并给出了系统稳定的充分条件.最后，将多速率分布式控制算法应用到热连轧活套系统，仿真验证了方法的有效性和可行性.Abstract: Distributed model predictive control strategy is more suitable for dealing with multi-agent cooperative control systems. However the coupling effects among multiple agents are still a difficult point. In the paper, a multi-rate distributed model predictive control strategy is proposed for series structural systems, in which all the controllers of agents can be updated asynchronously and the coupling effects are fully taken into account to improve stability. Furthermore, a sufficient condition for the stability is generated. Finally, the control strategy is applied into a looper control system of hot strip rolling and simulation results show its feasibility and effectiveness.
-
Key words:
- Distributed model predictive control /
- multi-rate /
- looper system /
- multi-agent
1) 本文责任编委 阳春华 -
图 3 控制器同步更新与异步更新比较
Fig. 3 The comparison between simultaneous control and asynchronous control
图 4 快采样更新与异步更新比较
Fig. 4 The comparison between fast-sample control and asynchronous control
图 5 扰动情况下快采样更新与异步更新比较
Fig. 5 The comparison between fast-sample control and asynchronous control with disturbance
-
[1] Conte C, Jones C N, Morari M, Zeilinger M N. Distributed synthesis and stability of cooperative distributed model predictive control for linear systems. Automatica, 2016, 69:117-125 doi: 10.1016/j.automatica.2016.02.009 [2] Li H P, Yan W S. Receding horizon control based consensus scheme in general linear multi-agent systems. Automatica, 2015, 56:12-18 doi: 10.1016/j.automatica.2015.03.023 [3] 杨辉, 张芳, 张坤鹏, 李中奇, 付雅婷.基于分布式模型的动车组预测控制方法.自动化学报, 2014, 40(9):1912-1921 http://www.aas.net.cn/CN/abstract/abstract18461.shtmlYang Hui, Zhang Fang, Zhang Kun-Peng, Li Zhong-Qi, Fu Ya-Ting. Predictive control using a distributed model for electric multiple unit. Acta Automatica Sinica, 2014, 40(9):1912-1921 http://www.aas.net.cn/CN/abstract/abstract18461.shtml [4] Cheng Z M, Zhang H T, Fan M C, Chen G R. Distributed consensus of multi-agent systems with input constraints:a model predictive control approach. IEEE Transactions on Circuits and Systems Ⅰ:Regular Papers, 2015, 62(3):825-834 doi: 10.1109/TCSI.2014.2367575 [5] Wang P, Ding B C. Distributed RHC for tracking and formation of nonholonomic multi-vehicle systems. IEEE Transactions on Automatic Control, 2014, 59(6):1439-1453 doi: 10.1109/TAC.2014.2304175 [6] Hengster-Movric K, Lewis F L, Sebek M. Distributed static output-feedback control for state synchronization in networks of identical LTI systems. Automatica, 2015, 53:282-290 doi: 10.1016/j.automatica.2014.12.015 [7] Richards A, How J P. Robust distributed model predictive control. International Journal of Control, 2007, 80(9):1517-1531 doi: 10.1080/00207170701491070 [8] Richards A, How J. Decentralized model predictive control of cooperating UAVs. In: Proceeding of the 43rd IEEE Conference on Decision and Control. Nassau, Bahamas, USA: IEEE, 2004, 4: 4286-4291 http://www.researchgate.net/publication/224613940_Decentralized_model_predictive_control_of_cooperating_UAVs?ev=prf_cit [9] Kuwata Y, How J P. Cooperative distributed robust trajectory optimization using receding horizon MILP. IEEE Transactions on Control Systems Technology, 2011, 19(2):423-431 doi: 10.1109/TCST.2010.2045501 [10] Choi I S, Rossiter J A, Fleming P J. Looper and tension control in hot rolling mills:a survey. Journal of Process Control, 2007, 17(6):509-521 doi: 10.1016/j.jprocont.2006.12.005 [11] 张晓东, 姚小兰, 伍清河.活套关联系统建模及滚动时域控制.控制理论与应用, 2011, 28(12):1797-1802 http://www.cnki.com.cn/Article/CJFDTotal-KZLY201112016.htmZhang Xiao-Dong, Yao Xiao-Lan, Wu Qing-He. Modeling and receding-horizon control for looper-interconnected systems. Control Theory & Applications, 2011, 28(12):1797-1802 http://www.cnki.com.cn/Article/CJFDTotal-KZLY201112016.htm [12] Ling K V, Ho W K, Wu B F, Lo A, Yan H. Multiplexed MPC for multizone thermal processing in semiconductor manufacturing. IEEE Transactions on Control Systems Technology, 2010, 18(6):1371-1380 doi: 10.1109/TCST.2009.2036155 [13] Ling K V, Ho W K, Feng Y, Wu B F. Integral-square-error performance of multiplexed model predictive control. IEEE Transactions on Industrial Informatics, 2011, 7(2):196-203 doi: 10.1109/TII.2011.2106451 [14] Wang X R, Huang B, Chen T W. Multirate minimum variance control design and control performance assessment:a data-driven subspace approach. IEEE Transactions on Control Systems Technology, 2007, 15(1):65-74 http://ieeexplore.ieee.org/document/4039352/ [15] 傅剑. 现代鲁棒控制理论应用研究与热连轧综合控制[博士学位论文], 北京科技大学, 中国, 2006.Fu Jian. Application Study on Modern Robust Control Theory and Integrated Control in Hot Strip Rolling[Ph. D. dissertation], University of Science and Technology Beijing, China, 2006. -
下载:
图(6)
计量
- 文章访问数: 1471
- HTML全文浏览量: 207
- PDF下载量: 681
- 被引次数: 0
