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针对网络化控制系统中出现的时延现象,提出一种新的基于模型的预测控制方法。首先,将基于模型的预测控制算法用于网络化控制系统的预测控制器设计中,对算法中选取的目标优化函数添加调整因子进行在线调整预测误差的大小,从而使预测精确度更高;同时,采用滚动优化策略计算系统输出,以局部优化取代全局优化,使系统鲁棒性高;然后,在该预测控制基础上,增加延时补偿器以补偿时延对系统造成的不利影响。最后通过对示例进行仿真,验证了该方法的有效性。
Aiming at the time delay phenomenon in networked control system, a new model-based predictive control method is proposed. First, the model-based predictive control algorithm is applied to the predictive controller design of networked control system. The adjustment factor is added to the target optimization function in the algorithm to adjust the predictive error on-line so that the prediction accuracy is higher. Simultaneously , The rolling optimization strategy is adopted to calculate the output of the system and the global optimization is replaced by the local optimization so that the robustness of the system is high. Then, based on the predictive control, a delay compensator is added to compensate for the adverse effect of the delay on the system. Finally, the simulation results verify the validity of the method.