双三角钻臂非齐次模型自适应预测控制

Inhomogeneous Model Based Adaptive Predictive Control of Double-triangle Boom

针对双三角钻臂这类非线性系统的控制问题,为克服系统闭环预测存在的缺陷,提出了一种非齐次增量型时变线性模型,给出并证明了其存在性定理。提出了基于该类模型的自适应预测控制算法,并将该算法实际应用于双三角钻臂直接定位控制,使双三角钻臂获得了很好的轨迹跟踪性能。该控制算法比传统广义预测控制算法简单,容易实现,其应用效果证明了它的可行性和有效性。

For the control of nonlinear systems similar to double-triangle boom and in order to overcome the shortages of closed-loop prediction, an inhomogeneous incremental time-varying linear model was put forward, the existence theorem of the model was given and demonstrated. Then an adaptive predictive control algorithm based on the model is deduced and practically applied to the directly positioning control of double-triangle boom. Excellent characteristics of trajectory tracking of double-triangle boom is acquired. The algorithm is simpler than traditional GPC and easier realize. The application effectness confirms the feasibility and the efficiency.