基于状态反馈线性化的电液伺服系统模型预测控制

Model Predictive Control of Electro-hydraulic Servo System Based on State Feedback Linearization

针对如何提高阀控离合器的位置控制精度、克服非线性等问题,该文提出了一种基于状态反馈线性化的电液伺服系统模型预测控制方案。首先建立了伺服系统状态空间模型,将非线性系统映射为新坐标空间内的线性系统模型;接着设计了一种基于马尔可夫链预测模型的反馈线性化模型预测控制器(feedback linearization model predictive controller,FLMPC),通过设计损失函数求解最优输入序列,最终作用于反馈线性化系统。仿真结果证明,在相同输入情况下,反馈线性化系统与原系统的位置误差满足控制需要,可以有效减少超调量。且在保证被控对象快速稳定控制的条件下,相比非线性模型预测控制,该算法单步计算时间更短。

In order to improve the position control accuracy and overcome the nonlinearity of the valve-controlled clutch,a model predictive control scheme of electro-hydraulic servo system based on state feedback linearization is proposed in this paper.Firstly,the state space model of the servo system is established,and the nonlinear system is mapped into a linear system model in the new coordinate space.Then,a feedback linearization model predictive controller(FLMPC)based on Markov chain prediction model is designed.The optimal input sequence is solved by designing the loss function,which finally acts on the feedback linearization system.The simulation results show that under the same input condition,the position error between the feedback linearization system and the original system meets the control requirements and can effectively reduce the overshoot.Under the condition of ensuring the fast and stable control of the controlled object,the algorithm has a shorter single-step calculation time than the nonlinear model predictive control.