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A Fast Binary Tree Method for Midpoint Location in Control System

A technology of control system and binary tree, applied in general control system, control/adjustment system, instrument, etc., can solve problems such as control requirements, unsatisfied performance, unsatisfied preprocessing time, etc., to achieve low space storage requirements and shorten preprocessing time, improving the effect of online computing time

Active Publication Date: 2017-09-29
ZHEJIANG UNIV OF TECH
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Problems solved by technology

Although they can actually and effectively solve the point positioning problem, they can no longer meet our control needs in terms of performance.
Compared with other point positioning methods, the traditional binary tree method has incomparable advantages in storage space requirements and online search efficiency, but its preprocessing time cannot meet the requirements of our control system

Method used

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  • A Fast Binary Tree Method for Midpoint Location in Control System
  • A Fast Binary Tree Method for Midpoint Location in Control System
  • A Fast Binary Tree Method for Midpoint Location in Control System

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Embodiment Construction

[0046] The steps of the fast binary tree method of the present invention will be further described below in conjunction with the accompanying drawings. Refer to attached Figure 1-5 , Figure 6 .

[0047] Fast binary tree method of the present invention, concrete steps are as follows:

[0048] Step 1. The offline preprocessing process of the fast binary tree method, see the flow chart for details image 3 and Figure 4

[0049] 1.1. Introduce multi-parameter quadratic programming into the control system, divide the system state space into convex partitions, and calculate the control rate corresponding to each partition, and save it in the FG array. For a schematic diagram of the state space partition, see figure 1 .

[0050] 1.2, remove the linearly dependent hyperplane and the outer boundary of the object space, and do not select them as candidate hyperplanes.

[0051] 1.3, group the partitions by eigenvalues ​​(the eigenvalues ​​here are the control rates), group the...

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Abstract

The fast binary tree method is divided into two main stages - offline preprocessing stage and online calculation stage. The multi-parameter quadratic programming theory is introduced in the offline preprocessing stage. The computer can divide the state space of the control system into convex partitions and calculate the control rate corresponding to each partition. Then we select the reference hyperplane through the index. Build a binary tree. The online calculation stage is consistent with the traditional binary tree method. The partition is quickly screened and determined through the positional relationship between the judgment point and the hyperplane, and the corresponding control rate of the partition is obtained. The control output of the system is obtained through simple linear operations.

Description

technical field [0001] The invention relates to a midpoint positioning method for explicit model predictive control. Compared with the traditional binary tree method, the performance of the fast binary tree method has been greatly improved. On the basis of greatly shortening the preprocessing time of the point positioning method, it also has the lowest space storage requirements, and also improves the point positioning. online computing time. Background technique [0002] In the traditional model predictive control, there are repeated online optimization calculations, which cause the controller to be overloaded and inefficient. In order to solve these problems, scholars such as Manfred Morari and Alberto Bemporad introduced the multi-parameter quadratic programming theory around 2002, and established an explicit model predictive control method system. It mainly uses the inherent piecewise affine law of the model predictive control system, according to the model, constraint...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/02
Inventor 张聚胡标标林广阔谢作樟修晓杰
Owner ZHEJIANG UNIV OF TECH
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