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在实际被控过程中往往存在着很多约束条件,这使得预测控制的在线优化问题表现为非线性,难以获得控制律的具体表达式,为约束预测控制的分析造成困难。基于New-ton控制框架,针对线性系统离散状态空间的动态模型,考虑具有输入、输出区间约束条件下,基于区间控制思想的预测控制律的解析表达式,分别得到无约束和有约束情况下状态反馈控制律的解析形式,从而分析约束条件对控制的影响。通过二阶系统的控制仿真实验证明了前面推导与分析的正确性。
There are many constraints in the actual controlled process, which make the online optimization of predictive control appear nonlinear and it is difficult to obtain the concrete expression of control law, which makes it difficult to analyze constrained predictive control. Based on Newton control framework, the dynamic model of discrete state space in linear system is considered, and the analytic expression of predictive control law based on interval control is considered under the constraints of input and output intervals. Then the state of unconstrained and constrained state The analytical form of feedback control law analyzes the influence of constraints on control. The control simulation of the second-order system proves the correctness of the preceding derivation and analysis.