针对欠驱动水面船舶轨迹跟踪控制问题,根据模型预测控制(Model Predictive Control, MPC)原理,提出一种基于参数化模型的非线性模型预测控制(Parameterized Model-Nonlinear Model Predictive Control, PM-NMPC)方法。采用最小二乘法对...针对欠驱动水面船舶轨迹跟踪控制问题,根据模型预测控制(Model Predictive Control, MPC)原理,提出一种基于参数化模型的非线性模型预测控制(Parameterized Model-Nonlinear Model Predictive Control, PM-NMPC)方法。采用最小二乘法对船舶的参数化模型进行辩识,设计PM-NMPC控制器。对环境干扰下的某集装箱船艏向角控制和轨迹跟踪进行试验,验证控制算法的有效性,并将该控制器与比例积分微分控制器(Proportional plus Integral plus Derivative cotroller, PID cotroller)控制器进行对比。仿真结果表明,PM-NMPC控制器轨迹跟踪效果更好,对未知干扰具有更强的稳健性。展开更多
有限控制集模型预测控制（finite control set model predictive control,FCS-MPC）提供了一种与众不同的能量处理方法,将功率变换器当做离散和非线性的执行器。它具有无须解耦运算和安装脉冲宽度调制（pulse width modulation,PWM）调...有限控制集模型预测控制（finite control set model predictive control,FCS-MPC）提供了一种与众不同的能量处理方法,将功率变换器当做离散和非线性的执行器。它具有无须解耦运算和安装脉冲宽度调制（pulse width modulation,PWM）调制器等优点,被广泛应用于电力电子变换器。传统FCS-MPC在延时补偿问题上采用拉格朗日外推法对未来参考值进行修正,但这种方法在出现阶跃变化时峰值较大。考虑到三相系统变量的矢量表示法后,能够根据一次采样时间的矢量角变化来估算未来参考值。因此,该文基于光伏并网逆变器,运用矢量角补偿法对FCS-MPC延时补偿后带来的未来参考值偏离进行修正,研究光伏光照强度变化时并网的动态控制效果,这个简单的补偿方法允许预测控制模型包含延时,并能够避免受控变量出现较大的纹波,同时该文在代价函数中加入了开关频率约束项,减少开关损耗,同时不会造成输出电流畸变。最后通过Matlab/Simulink仿真和实验,验证这种模型预测控制器在光照波动时并网运行过程中具有良好的控制性能,并论证此方法的可行性。展开更多
针对有源前端AFE(active front-end)变换器电流环采用的有限控制集模型预测控制算法FCS-MPC(finite control set model predictive control),存在数字控制器计算量大、输出的电流脉动大和系统性能差等问题,提出了一种改进模型预测控制...针对有源前端AFE(active front-end)变换器电流环采用的有限控制集模型预测控制算法FCS-MPC(finite control set model predictive control),存在数字控制器计算量大、输出的电流脉动大和系统性能差等问题,提出了一种改进模型预测控制策略。首先通过坐标变换构建α-β坐标下AFE变换器的预测模型;结合电压型空间矢量变换的原理,引入矢量扇区判断法,减少最优电压矢量选择的次数;最后根据选出来的电压矢量,在1个控制周期内同时施加有效电压矢量和零电压矢量,并分配相应的作用时间。该方法不但保留了传统MPC算法的快速动态响应特性,而且改善了系统的稳态性能。仿真和实验结果均验证了所提方法的正确性与有效性。展开更多
The existing research into hybrid electric vehicle(HEV) control is mainly focussed on the optimisation of the power distribution between a conventional internal combustion engine(ICE) and an alternative power source(u...The existing research into hybrid electric vehicle(HEV) control is mainly focussed on the optimisation of the power distribution between a conventional internal combustion engine(ICE) and an alternative power source(usually a battery pack), however,transient control, which is a key technique that affects both fuel economy and the drivability of the HEV, has not been fully addressed. Especially in dual-mode power-split HE Vs, due to the different dynamic characteristics of the actuators in the transmission, and its complicated speed-torque relationship, transient control also affects the precision of power distribution and the speed of response of the electric output power. To improve the transient control performance, the design of an economic model predictive control(EMPC)-based transient controller for a dual-mode power-split HEV is developed. By incorporating an experimental identification model of a diesel ICE in a control-oriented transmission model, a better coordination among the actuators involved in HEV transmission can be achieved. Moreover, an ICE efficiency index is also added to the objective function to improve ICE fuel efficiency during this transient process. Then, a fast MPC method is applied to reduce the on-line computation effort required of the proposed control algorithm. By the flexible application of the EMPC and an innovative ICE model which is suited to the control-oriented model in EMPC, the transient control performance was improved. The effectiveness,and the real-time performance,of the control algorithm are validated by way of MATLABTM/Simulink-based simulations,as well as test-bed experiments combined with the use of the RapidECU platform.展开更多
文摘针对欠驱动水面船舶轨迹跟踪控制问题,根据模型预测控制(Model Predictive Control, MPC)原理,提出一种基于参数化模型的非线性模型预测控制(Parameterized Model-Nonlinear Model Predictive Control, PM-NMPC)方法。采用最小二乘法对船舶的参数化模型进行辩识,设计PM-NMPC控制器。对环境干扰下的某集装箱船艏向角控制和轨迹跟踪进行试验,验证控制算法的有效性,并将该控制器与比例积分微分控制器(Proportional plus Integral plus Derivative cotroller, PID cotroller)控制器进行对比。仿真结果表明,PM-NMPC控制器轨迹跟踪效果更好,对未知干扰具有更强的稳健性。
文摘有限控制集模型预测控制（finite control set model predictive control,FCS-MPC）提供了一种与众不同的能量处理方法,将功率变换器当做离散和非线性的执行器。它具有无须解耦运算和安装脉冲宽度调制（pulse width modulation,PWM）调制器等优点,被广泛应用于电力电子变换器。传统FCS-MPC在延时补偿问题上采用拉格朗日外推法对未来参考值进行修正,但这种方法在出现阶跃变化时峰值较大。考虑到三相系统变量的矢量表示法后,能够根据一次采样时间的矢量角变化来估算未来参考值。因此,该文基于光伏并网逆变器,运用矢量角补偿法对FCS-MPC延时补偿后带来的未来参考值偏离进行修正,研究光伏光照强度变化时并网的动态控制效果,这个简单的补偿方法允许预测控制模型包含延时,并能够避免受控变量出现较大的纹波,同时该文在代价函数中加入了开关频率约束项,减少开关损耗,同时不会造成输出电流畸变。最后通过Matlab/Simulink仿真和实验,验证这种模型预测控制器在光照波动时并网运行过程中具有良好的控制性能,并论证此方法的可行性。
文摘针对有源前端AFE(active front-end)变换器电流环采用的有限控制集模型预测控制算法FCS-MPC(finite control set model predictive control),存在数字控制器计算量大、输出的电流脉动大和系统性能差等问题,提出了一种改进模型预测控制策略。首先通过坐标变换构建α-β坐标下AFE变换器的预测模型;结合电压型空间矢量变换的原理,引入矢量扇区判断法,减少最优电压矢量选择的次数;最后根据选出来的电压矢量,在1个控制周期内同时施加有效电压矢量和零电压矢量,并分配相应的作用时间。该方法不但保留了传统MPC算法的快速动态响应特性,而且改善了系统的稳态性能。仿真和实验结果均验证了所提方法的正确性与有效性。
基金supported by the National Natural Science Foundation of China(Grant Nos.51005017,51575043&U1564210)
文摘The existing research into hybrid electric vehicle(HEV) control is mainly focussed on the optimisation of the power distribution between a conventional internal combustion engine(ICE) and an alternative power source(usually a battery pack), however,transient control, which is a key technique that affects both fuel economy and the drivability of the HEV, has not been fully addressed. Especially in dual-mode power-split HE Vs, due to the different dynamic characteristics of the actuators in the transmission, and its complicated speed-torque relationship, transient control also affects the precision of power distribution and the speed of response of the electric output power. To improve the transient control performance, the design of an economic model predictive control(EMPC)-based transient controller for a dual-mode power-split HEV is developed. By incorporating an experimental identification model of a diesel ICE in a control-oriented transmission model, a better coordination among the actuators involved in HEV transmission can be achieved. Moreover, an ICE efficiency index is also added to the objective function to improve ICE fuel efficiency during this transient process. Then, a fast MPC method is applied to reduce the on-line computation effort required of the proposed control algorithm. By the flexible application of the EMPC and an innovative ICE model which is suited to the control-oriented model in EMPC, the transient control performance was improved. The effectiveness,and the real-time performance,of the control algorithm are validated by way of MATLABTM/Simulink-based simulations,as well as test-bed experiments combined with the use of the RapidECU platform.
