基于Hammerstein模型的非线性建模与预测控制

所有实际的运动机构中都包含一定的非线性,对其进行精确的建模和控制是运动控制中具有挑战性的难题。文中提出了基于粒子群优化算法的RLS-PSO系统辨识建模方法,所得伺服转台模型具有良好拟合效果;对该模型提出改进的两步法,应用基于预测函数控制(Predictive functional control,PFC)的全局优化预测控制;伺服转台的仿真运行结果表明跟踪效果良好。

Nonlinear Modeling and Model Predictive Control Based on Hammerstein Model

There are nonlinearities almost in all of the kinematic mechanisms. The accurate modeling and precise control are both challenging problems in the field of kinematic control. An approach to RLS-PSO parameter identification based on particle swarm optimization is approved, which gets a great model of servo turntable. The global optimization predictive controller based on predictive functional control(PFC) is applied to the servo turntable through modified two-step method. And the simulation results show the effectiveness of modeling method and control algorithm of the servo system.