预测控制技术及应用发展综述

,,(,200030):,:;;;:TP273:A:100023932(2002)(03)2000121011946,,,2050,301959203,267233,,5,,[24],2060,20,,2(MPC)[51],[80]2.1,,,,,,,,,,,,DMC[6,7]MAC[43],,GPC[8,9]CARIMA,,,,,,,,,:2001-12-12,2002,29(3):110ControlandInstrumentsinChemicalIndustry©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(),,,,,,,,,,,,,2.3,,,,,,,,,,,,,,,,,2.4MPCMPC20,,1MPC3(NMPC)(pH)(),,,1[51](),[35,38],:229©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[70](),1MPCDMCCorp.SetpointCorp.HoneywellTreiberControlsAdersaDMCSMC2IdcomRMPCTOPCHieconPFCSRL,S,IIR,TFL,S,ISR,TF,ARXL,S,IIRL,S,IIRL,S,ISS,TF,ARXL,N,S,I,UCD,IDCD,IDCD,IDCD,IDCD,IDCD,IDL[I,O]Q[O],Q[I],RQ[I,O]Q[I,O]IH,OSIH,OSIH,OHIH,OHQ[I,O,M]Q[I,O]Q[I,O]Q[I,O,M]Q[O],Q[I]Q[I,O],SIH,OSIH,OSIH,OSIH,OSIH,OH,OS,ROH,OS,RS,ZS,Z,RT,FS,Z,FS,ZS,Z,RTS,Z,RT:IR;SR;TF;SS;ARX;L;N;S;I;U;CD;ID;L;Q;I;O;R;IH;OH;OS;M;S;;R;;S;Z;RT;F3.1,,,[51],,WienerLaguerreHammerstein;,:,;,,,,,3.2,,:xk+1=f(xk,uk,dk)(1)yk=g(xk)+ek(2)ek=ymk-yk(3):xkRn,ukRnu,dkRnd,ykRnykRny;f()g();nnundny1NMPC,uk:minukJ=rPi=1yk+i-ysqQi+rM-1j=1uk+j-33.©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.=0uk+lqTl(4)s.t.yyk+iyPi=1,,Puuk+juPj=0,,M-1(5)uuk+luPl=0,,M-1h(yk,uk)=0(6):PM;QiRnyny,RjRnunuTlRnunu;q,12;ysus(5),(6)MPC,NMPC:,,NMPC:QP[52,53](GRG)[32][38,39]:[26],,,,:(1)xk+P=xs(xs),(4)Lya2punov[29],,(2),Michalska[40]Wxk+P|W(xs),NM2PC;xk+PW(xs),NMPCxk+Pxs(3)MP,(4)LyapunovMeadows[36],NMPC,,3.3,NMPCMPC,,[28],MuskeMPC[41],Ramirez[55]NMPC3.4MPC,NMPC,2NMPC4MPCNMPC,,MPCMPC,(),NMPC,,:,,,;,,429©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[I,O]Q[I,O]Q[I,O]Q[I,O]IC,OSIH,OH,OSIH,OSIH,OSIH,OHQ[I,O]Q[I,O,M]Q[I,O,M](Q,A)[I,O,M]Q[I,O]IC,OSIH,OH,OSIH,OSIH,OSIH,OHS,Z,RTS,Z,RTS,Z,RTS,Z,RTS,TWFH,CPFH,CPFHFHFHNLSQPQP2QuickGRGGRG2MINLPNovaGD:IO;FP;NSS;NNN;SNP;S;I;U;CD;ID;EKF;Q;I;O;IH;OH;A;M;;IC;OS;;S;Z;RT;TW;FH;CP;NLS;QP;GRG;GD;MINLP,,:;,,,,,:,(),(),,,,,,,MPC1982GarciaMorari[1416]PolakYang[48,49]MHC(Mov2ingHorizonControl),[1,11,62],MPC,MPC53.©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(LMI)[25,59,60,71,77],MPC,[2,4,19,44,46,47]4.2,MPC,,,HoneywellRMPCT,[23]RMPCT,5(),,,,,[20]:,;,()5.1,,,,[80],[80],Rani[54],,DMC[42,13,21]GPC[10,33,34,3](CSTR),GPCShridhar1998DMCSISOMIMO[57,58][74]SISO,,,:,[54]DMC,,,,Al2Ghazzawi2001Al2Ghazzawi[63]kiY(k+i|k)Rny1qv(k+i|k)Rny1Y(k+i|k)rv(k+i|k)Rnu1:¨Yqv(k+i|k)=5Y(k+i|k)5qv(k+i|k)Rnyny¨Yrv(k+i|k)=5Y(k+i|k)5rv(k+i|k)Rnuny:nuny,:^Y(k+i)=Y(k+i|k)+¨Yxv(k+i|k)Txv(k+i|k)¨Yxv(k+i|k)=[¨Yqv(k+i|k)T,¨Yrv(k+i|k)T]TR(nu+ny)nyxv(k+i|k)=[qvT,rvT]TR(nu+ny)1xv(k+i|k)=xv(k+i-1|k)+xv(k+i|k):629©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.^Y(k+i)k+i,,,;,,()Al2Ghazzawi,,,,,;,Al2Ghazzawi,,,,,(),,,,,5.2(),,,,1984Greco[66][70],,,,,,[70],,,,1809[18],,[27,28],,,[30,31]RLSARX;[67],,:(3),,MPC,MPC[17,21]ARXVolterra;[45]Wiener;[61,75,76]La2guerre2Hammerstein;[56,5,22],;73.©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[65,68,64,69]5.3,,,[66]MUSMAR,;[30,31]Matlab/DSpace/NOX,PID[20],6,,,,;,(),,,,:(),,,2080,,,(MCC),,973,[][1]Allwright,J.C.,Papavasiliou,G.G.OnLinearProgrammingandRobustModelPredictiveControlUsingImpulse2Response[J].Sys2tems&ControlLetters,1992,18:1592164.[2]Apkarian,P.,Becker,G.,Gahinet,P.,etal.LMITechniquesinControlEngineeringfromTheorytoPractice[C].WorkshopNotesCDC,Kobe,Japan.1996.[3]Banerjee,P.,Shah,S.L.TuningGuide2LinesforRobustGeneral2izedPredictiveControl[C].Proceedingsof31stIEEEConferenceonDecisionandControl,1992,4:323323234.[4]Boyd,S.,Ghaoui,L.El.,Feron,E.,etal.LinearMatrixInequali2tiesinSystemandControlTheory[C].SIAM,Philadelphia.1994.[5]Brown,S.K.,Baum,C.C.,Bowling,P.S.,etal.Adaptive,Predic2tiveControllerforOptimalProcessControl[R].TechniqueReport,LosAlamosNationalLaboratory,LasAlamos,NM,USA.1994.[6]Cutler,C.R.,B.L.Ramaker.DynamicMatrixControlACom2puterControl[C].ProceedingsoftheJointAutomaticControlCon2ference,SanFrancisco,WP52B,1980.[7]CutlerC.R.,Perry,T.RealTimeOptimizationwithMultivariableControlisRequiredtoMaximizeProfits[C].TheNationalMeetingoftheAmericanInstituteofChemicalEngineers,LosAngeles,Cali2fornia,1982,12.[8]ClarkeD.W.,Mohtadi,C.,Tuffs,P.S.GeneralizedPredictiveControl2I.TheBasicAlgorithm[J].Automatica,1987,23:1372148.[9]ClarkeD.W.,Mohtadi,C.,Tuffs,P.S.GeneralizedPredictiveControl2II.ExtensionsandInterpretations[J].Automatica,1987,23:1492160.[10]Clark,D.W.,Mohtadi,C.PropertiesofGeneralizedPredictiveControl[J].Automatica,1989,25:8592875.[11]Campo,P.J.,Morari,M.RobustModelPredictiveControl[C].ProceedingsoftheACC,Minneapolis,MN,1987,102121026.[12]Faouzi,M.S.,Abdelkader,E.K.,Ridha,B.A.,etal.Con2straine