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Design Methodology for Super Energy-Saving Control Systems-Discrete-valued/Saturated-input Control Approach based on Online Optirnization

超节能控制系统设计方法——基于在线优化的离散值/饱和输入控制方法

基本信息

批准号：
17360197
负责人：
SUGIE Toshiharu
金额：
$ 10.44万
依托单位：
Kyoto University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2005
资助国家：
日本
起止时间：
2005 至 2007
项目状态：
已结题

项目摘要

This study considers a class of constrained systems, which have amplitude saturation in input/state or are actuated by discrete-valued signals. The purpose of the research is to develop systematic design methods for such systems and to achieve satisfactory control performance with low resolution actuators. The following results have been obtained.First, for linear systems with input-saturation, we have developed a stability analysis method and a reference shaping method which improves the tracking performance based on off-line optimization. Its effectiveness is demonstrated through various numerical examples.Second, as for model predictive control methods which determine the control subject to the systems constraints based on online optimization, we have developed two types of the methods. One is to reduce the computation burden concerning online optimization by exploiting a priori knowledge of the plant. The other is to improve the plant model in an adaptive way during the model predictive control method. Their effectiveness is validated through simulations.Third, as for discrete-valued input control, we have obtained several results. One of the main points is to utilize the dynamic quantizers which transform the original continuous-valued signals to the signals in the given discrete-valued set based on the past sequence of the both signals. We give a simple design method of such dynamic quantizers for linear continuous-time systems, and develop an optimal design method for discrete-time case which is based on the detailed information of the plant to be controlled. Many numerical and experimental results support the utility of such dynamic quantizers. Furthermore, a robust control method for a class of nonlinear systems has been presented.

本文研究一类输入/状态具有幅值饱和或受离散信号激励的约束系统。研究的目的是为此类系统开发系统的设计方法，并在低分辨率执行器的情况下实现令人满意的控制性能。主要研究结果如下：第一，针对输入饱和线性系统，提出了一种稳定性分析方法和一种基于离线优化的参考成形方法，提高了跟踪性能。其次，对于基于在线优化确定系统约束控制的模型预测控制方法，我们发展了两种类型的方法。一种是利用被控对象的先验知识，减少在线优化的计算量。另一种是在模型预测控制方法中对对象模型进行自适应改进。最后，对于离散输入控制，我们得到了一些结果。其要点之一是利用动态量化器，根据两个信号的过去序列，将原始连续值信号变换为给定离散值集合中的信号。对于线性连续时间系统，我们给出了这种动态量化器的一种简单设计方法，对于离散时间系统，我们提出了一种基于被控对象详细信息的最优设计方法。许多数值和实验结果支持这种动态量化器的效用。在此基础上，提出了一类非线性系统的鲁棒控制方法。