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针对复杂关联系统中分散控制方法无法有效解决子系统间的耦合和干扰问题,提出一种基于扩张状态观测器的分散模型预测控制算法.首先将复杂关联系统分解为多个状态维数较低、控制变量较少的子系统,并为每个子系统设计本地预测控制器;然后,采用扩张状态观测器对子系统的耦合项以及干扰项进行估计,进而利用估计值对子系统进行前馈补偿,从而降低复杂关联系统的计算复杂度,提高系统的稳定性和抗干扰能力;最后,利用液位控制系统验证了所提出算法的有效性.
Aiming at the problem that the decentralized control method in complex relational system can not effectively solve the coupling and interference between subsystems, a decentralized model predictive control algorithm based on the extended state observer is proposed.Firstly, the complex relational system is decomposed into many low- The subsystem with fewer variables is controlled and the local predictive controller is designed for each subsystem. Then, the extended state observer is used to estimate the coupling term of the subsystem and the interference term, then the estimators are used to compensate the subsystem. Thus reducing the computational complexity of complex relational systems and improving the stability and anti-interference ability of the system. Finally, the effectiveness of the proposed algorithm is verified by using the liquid level control system.