基于增广状态空间法的稳定平台离散模型预测控制

针对旋转导向钻井稳定平台存在的摩擦问题,提出了将增广状态空间模型与模型预测控制相结合的稳定平台离散预测控制算法,以提高平台系统的控制精度和稳定性.建立了带摩擦的稳定平台广义被控对象的数学模型,以增广形式的状态空间模型为基础,结合滚动时域控制原则,通过对稳定平台离散模型的状态空间形式进行增广变换,设计了增广状态空间模型下的预测控制器.仿真结果表明,稳定平台预测控制系统保证了钻井工程对控制精度和动态特性的要求,并且对有摩擦干扰力矩及模型参数摄动具有较强的鲁棒性.

Discrete model predictive control of stabilized platform based on augmented minimal state-space method

The discrete predictive control algorithm for stabilized platform is proposed for solving the friction problem in the stabilized platform and improving the control accuracy and the stability of the platform system,which is based on the combination of augmented state-space model with model predictive control.The mathematical model of the generalized controlled object of the stabilized platform with friction is established,and the predictive controller based on augmented minimal state-space model is designed through the augmented conversion of the state-space form of the discrete model of the stabilized platform.Simulation results show that the predictive control system of the stabilized platform not only guarantees the requirements of the drilling engineering to control precision and dynamic performance,but also has strong robustness to friction disturbance and parameter perturbation.