Two-dimensional Model Predictive Iterative Learning Control Scheme Based on a Two-dimensional Performance Model
-
摘要: 将迭代学习控制(Iterative learning control, ILC)系统看作一类具有2维动态特性的控制系统,根据模型预测控制(Model predictive control, MPC)和性能参考模型控制思想, 提出了一种基于2维性能参考模型的2维模型预测迭代学习控制系统设计方案.在该控制系统设计方案中,可以通过选择适当的2 维性能参考模型来构造2 维动态变化的设定值信号和预测控制信号,从而引导迭代学习控制系统收敛到合理的控制性能,并有效避 免系统性能收敛过程中控制输入可能发生的剧烈波动.通过对控制系统的结构分析可知,所得的迭代学习控制器本质上是由沿时 间指标的参考模型预测控制器和沿周期指标的迭代学习控制器组成,闭环系统的收敛性等价于一个2维滤波系统的稳定性.数值仿 真结果证明了该设计方案的有效性和鲁棒性.Abstract: By representing an iterative learning control (ILC) system as a two-dimensional system and using the philosophy of model predictive control (MPC) and performance model reference control, a two-dimensional performance model based model predictive iterative learning control scheme is proposed in this paper. Through the design of two-dimensional dynamics of the performance model to generate more proper reference trajectories and predictive control signals for each cycle, the convergence pattern of the iterative learning control system can be guided to avoid the issue of possibly violent oscillation of input signal. The structure analysis indicates that the resulted control is composed of the time-wise performance model based model predictive control and cycle-wise iterative learning control, and that the convergence of the closed loop control system is equivalent to the stability of a two-dimensional filter. Numerical simulations illustrate the effectiveness and robustness of the proposed control scheme.
-
[1] Uchiyama M. Formulation of high-speed motion pattern of a mechanical arm by trial. Transactions of Society of Instrumentation and Control Engineers, 1978, 14(6): 706-712[2] Ahn H S, Chen Y Q, Moore K L. Iterative learning control: brief survey and categorization. IEEE Transactions on Systems, Man, and Cybernetics—Part C: Applications and Reviews, 2007, 37(6): 1090-1121[3] Wang Y Q, Gao F R, Doyle F J III. Survey on iterative learning control, repetitive control, and run-to-run control. Journal of Process Control, 2009, 19(10): 1589-1600[4] Yu Shao-Juan, Qi Xiang-Dong, Wu Ju-Hua. Iterative Learning Control Theory and Application. Beijing: China Machine Press, 2005. 98-105(于少娟, 齐向东, 吴聚华. 迭代学习控制理论及应用. 北京: 机械工业出版社, 2005. 98-105)[5] Sun Ming-Xuan, Huang Bao-Jian. Iterative Learning Control. Beijing: Defence Industry Press, 1999. 50-100(孙明轩, 黄宝健. 迭代学习控制. 北京: 国防工业出版社, 1999. 50-100)[6] Lee J H, Lee K S. Iterative learning control applied to batch processes: an overview. Control Engineering Practice, 2007, 15(10): 1306-1318[7] Li Ren-Jun, Han Zheng-Zhi. Survey of iterative learning control. Control and Decision, 2005, 20(9): 961-966(李仁俊, 韩正之. 迭代学习控制综述. 控制与决策, 2005, 20(9): 961-966)[8] Xu Ming, Lin Hui. New advances in theories and applications of iterative learning control. Techniques of Automation and Applications, 2003, 22(1): 4-7(徐敏, 林辉. 迭代学习控制理论与应用新进展. 自动化技术与应用, 2003, 22(1): 4-7)[9] Shi Jia. Iterative Learning Control Schemes Based on 2D System Control Theories and Its Applications [Ph.D. dissertation], Zhejiang University, China, 2006. 111-136(师佳. 基于2维系统控制理论的迭代学习控制策略及其应用[博士学位论文], 浙江大学, 中国, 2006. 111-136)[10] Moon J H, Doh T Y, Chung M J. A robust approach to iterative learning control design for uncertain systems. Automatica, 1998, 34(8): 1001-1004[11] Wu Min, Lan Yong-Hong, She Jin-Hua. A new design method for repetitive control systems based on two-dimensional hybrid model. Acta Automatica Sinica, 2008, 34(9): 1208-1214(吴敏, 兰永红, 佘锦华. 基于二维混合模型的重复控制系统设计新方法. 自动化学报, 2008, 34(9): 1208-1214)[12] Lan Yong-Hong, Wu Min, She Jin-Hua. An optimal repetitive control approach based on two-dimensional hybrid model. Information and Control, 2008, 37(5): 519-523(兰永红, 吴敏, 佘锦华. 基于二维混合模型的最优重复控制方法. 信息与控制, 2008, 37(5): 519-523)[13] Li X D, Ho J K L, Chow T W S. Iterative learning control for linear time-variant discrete systems based on 2-D system theory. IEE Proceedings-Control Theory and Applications, 2005, 152(1): 13-18[14] Al-Towaim T, Barton A D, Lewin P L, Rogers E, Owens D H. Iterative learning control —— 2D control systems from theory to application. International Journal of Control, 2004, 77(9): 877-893[15] Yu Shao-Juan, Feng Dong-Mei, Wu Ju-Hua. Application of 2-D system theory in the design of open-closed-loop iterative learning control. Chinese Journal of Scientific Instrument, 2002, 23(3): 402-404, 422(于少娟, 冯冬梅, 吴聚华. 2-D系统理论在开闭环迭代学习控制中的应用. 仪器仪表学报, 2002, 23(3): 402-404, 422)[16] Owens D H, Amann N, Rogers E, French M. Analysis of linear iterative learning control schemes —— a 2D systems/repetitive processes approach. Multidimensional Systems and Signal Processing, 2000, 11(1-2): 125-177[17] Shi J, Gao F R, Wu T J. Single-cycle and multi-cycle generalized 2d model predictive iterative learning control (2D-GPILC) schemes for batch processes. Journal of Process Control, 2007, 17(9): 715-727[18] Xiao Yang. Stability Analysis of Multi-dimensional Systems. Shanghai: Shanghai Science and Technology Press, 2003. 119-129(肖扬. 多维系统的稳定性分析. 上海: 上海科学技术出版社, 2003. 119-129)[19] Kaczorek T. Two-dimensional Linear Systems. Berlin: Springer, 1985. 235-278
点击查看大图
计量
- 文章访问数: 1815
- HTML全文浏览量: 46
- PDF下载量: 890
- 被引次数: 0