文章基本信息

标题：Offset-free Nonlinear Model Predictive Control by the Example of Maglev Vehicles
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作者：Patrick Schmid ; Peter Eberhard
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：6
页码：83-90
DOI：10.1016/j.ifacol.2021.08.528
语种：English
出版社：Elsevier
摘要：AbstractOffset-free action of model predictive control (MPC) for nonlinear systems with the number of measured outputs greater than controlled outputs is a nontrivial problem. Motivated by investigating the possible application of MPC for the control system of magnetic levitation (Maglev) vehicles – tracking only the gap while measuring the gap, acceleration, and current – for higher speeds than hitherto travelled, different possible offset-free nonlinear MPC strategies are reviewed and discussed. Moreover, a novel approach based on a two-stage observer is introduced, requiring less effort to design an offset-free MPC. The different strategies are applied and analyzed in detail for a realistic model of the control system of the latest Transrapid vehicle, called TR09. Unlike usual offset-free MPC studies, the controller performance is also studied in a typical dynamic scenario, revealing the conflict and trade-off between the requirements for speed of command response and the robustness of closed-loop stability.
关键词：KeywordsNonlinear Model Predictive ControlOffset-free ControlMaglev VehicleMagnetic LevitationMechatronic SystemObserver Design