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研究了输入多采样率型离散时间控制系统的预见控制器设计问题.首先利用提升技术从形式上消除多采样率特点和状态时滞,把问题转化为一个普通的单采样率无时滞系统的控制器设计问题.由于状态时滞的存在,提升过程中会引入输入量的历史值.把这些历史值和状态时滞项一起放入扩大系统的状态向量中,因此提升过程不会引入误差.针对提升后的系统,利用最优预见控制的标准处理方法,通过构造扩大误差系统,把问题转化为调节问题,最后给出带有预见补偿的最优控制器.再经过变换,得到原系统的预见控制器.同时对预见控制器的存在条件进行了讨论.数值仿真表明,本文所设计的预见控制器是有效的.
The problem of predictive controller design for multi-sampling rate discrete-time control system is studied.Firstly, lifting technique is used to eliminate multi-sampling rate and state delay in form, and the problem is transformed into a normal single sampling rate non-delay system Controller Design Problem Due to the state delay, the history value of the input is introduced during the lifting process, and these history values are added to the state vector of the extended system together with the state delay term, so the lifting process does not introduce errors. For the upgraded system, by using the standard preprocessing control method, the error-correcting system is constructed to transform the problem into the adjustment problem, and finally the optimal controller with predictive compensation is obtained. After the transformation, the original system The controller is forecasted, and the existence of the controller is also discussed.Numerical simulation shows that the predictive controller designed in this paper is effective.