非线性预测控制及其在微电网中的应用

Nonlinear Predictive Control and Application to Microgrid

针对具有异质通信延迟和数据丢失的多智能体非线性系统的输出一致性问题,提出了一种网络化的多智能体预测控制方法。首先,结合输入输出反馈线性化和分布式滚动优化的方法,解决了非线性系统的预测问题。主动通信约束补偿机制的引入,克服了传统控制器仅在最大允许时延情况下实现输出一致性的保守性问题。其次,引入了代理之间的协调和控制成本,即综合考虑了控制目标和系统约束,使得所设计的协调控制器更具物理意义且更易实现。分布式控制器的引入还将大幅减轻大规模网络化多代理控制系统的计算负担。最后,在MATLAB/Simulink软件环境中,该算法被应用在一个具有4个发电单元的分布式智能微电网上,以解决其电压恢复问题。研究结果表明:所提出的网络化分布式预测控制方案,可以有效地解决多代理系统所遭遇的通信约束问题,并使得系统在一定的性能指标下实现输出一致性,即微电网可以在较低的控制成本下,实现时延的主动补偿及给定的380 V电压值的快速跟踪。

Aiming at the output consensus problem of multi-agent nonlinear systems with heterogeneous communication delay and data loss,a networked multi-agent predictive control method was proposed.Firstly,the method of combining input-output feedback linearization and distributed rolling optimization was used to solve the prediction problem of nonlinear systems.The introduction of an active compensation mechanism for communication constraint overcomed the conservative problem of traditional controllers to achieve output consistency only under the maximum allowable delay.Secondly,the coordination and control costs between agents were introduced.The control objectives and system constraints were comprehensively considered,which made the designed coordination controller more physically meaningful and easier to implement.The introduction of distributed controllers greatly reduced the computational burden of large scale networked multi-agent control systems.Finally,in the MATLAB/Simulink environment,the algorithm was applied to a distributed microgrid with four power generation units to solve its voltage recovery.The research results show that the proposed networked distributed predictive control scheme can effectively solve the communication constraints encountered by multi-agent systems,and enable the system to achieve output consistency under certain performance index.The microgrid can be controlled at a lower cost to realize the active compensation of the delay and the fast-tracking of the given 380 V voltage value.