最优控制在微型机与单板机上的实现

目前工业上所用DDC系统或分布式控制系统(例如TDCS2000)的闭环控制程序,都是应用PID控制算法,并不能在最大限度上发挥计算机控制的优越性。本文提出线性系统,二次型品质测度的最优控制可以很方便地在微型机或单板机上实现。作者通过一个仪器用的简单控制系统来说明最优控制在微型机和单板机上实现的方法;讨论了数学模型的建立,动态规划最优控制的实现方法,以及实验中观察到的现象;并说明所开发的最优控制应用软件可以通用于线性系统的控制对象;进而可以展望微型机和单板机不仅可以用于简单的单机控制或仪器控制,也可以由局部网联接而成为分布式控制系统,应用于控制较复杂的大系统。

THE IMPLEMENTATION OF OPTIMAL CONTROL WITH MICRO AND SINGLE BOARD COMPUTERS

Up to present days the PID control algorithm still plays the prime role in DDC control systems as well as in distributed control systems. This current state prevents people from making full use of the advantages of computer control. The author proposes that for a linear system with quadratic error measure, optimal control can be easily implemented by a micro or even a single board computer, and shows how this can be done on a simple instrument control system. The determination of the mathematical model, the implementation of dynamical programming optimal control and also the way to transplant the real time control software developed on a microcomputer to a single board computer are discussed. It is shown that the application software developed for this instrument control system can also be applied to other linear systems of the same order. Only the values of certain parameters of the control function should be changed, and this can be done by keyboard input. The implementation of optimal control on single board computer can give high performance at a significantly lowered cost. A group of such micro or single board computers can be linked up by a LAN to make a distributed control system for the purpose of controlling complicated large systems.