| 含间隙系统的约束时间最优预测控制 |
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| 引用本文： | 窦丽华,董领逊,张娟,冯贺平.含间隙系统的约束时间最优预测控制[J].电子科技大学学报(社会科学版),2009(6). |
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| 作者姓名： | 窦丽华 董领逊 张娟 冯贺平 |
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| 作者单位： | 北京理工大学信息科学技术学院;河北软件职业技术学院智能工程系; |
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| 基金项目： | 北京市教育委员会共建基金(XK100070532) |
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| 摘 要： | 为了解决含间隙机械系统最优控制的计算复杂度问题,设计了基于分段仿射(PWA)模型的约束时间最优预测控制器。为了降低在线控制的计算复杂度,利用动态规划方法在模型的状态和参考跟踪速度的范围内提前计算出了离线的控制律。在跟踪参考速度的实验中,约束时间最优预测控制器具有较好的跟踪控制性能,与约束有限时间最优控制器相比,计算时间降低了十几倍,因此,适合于小采样时间系统的实时跟踪控制。
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| 关 键 词： | 间隙模式 约束时间最优预测控制器 混杂系统 PWA模型 |
Constrained Time-Optimal Predictive Control for a Class of Systems with Backlash |
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| DOU Li-hua,DONG Ling-xun,ZHANG Juan, FENG He-ping.Constrained Time-Optimal Predictive Control for a Class of Systems with Backlash[J].Journal of University of Electronic Science and Technology of China(Social Sciences Edition),2009(6). |
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| Authors: | DOU Li-hua DONG Ling-xun ZHANG Juan FENG He-ping |
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| Institution: | DOU Li-hua1,DONG Ling-xun1,ZHANG Juan1,, FENG He-ping2(1.Department of Information Science , Technology,Beijing Institute of Technology Haidian Beijing 100081,2.Department of Intelligent Engineering,Hebei Software Professional Technology Institute Baoding Hebei 071000) |
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| Abstract: | A constrained time-optimal predictive controller based on the piecewise affine(PWA) model is designed for solving the computation complexity of optimal control problem for mechanical system with backlash.For reducing computation burden of online implementation,the control law is computed offline for the range of states and references tracking speed by dynamic programming.In the experiments of tracking the reference speed,it is demonstrated that the constrained time-optimal predictive controller has better t... |
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| Keywords: | backlash mode constrained time-optimal predictive controller hybrid system PWA model |
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