Control:动态矩阵控制

预测模型

$${\hat{y}_{PM}(k)=\hat{y}_{P0}(k)+A\Delta u_M(k)}$$

滚动优化

$$\Delta u_M(k)=(A^TQA+R)^{-1}A^TQ { \omega_P(k) - \hat y_{P0}(k)}$$

反馈校正

$$\hat y_{cor}(k+1) = \hat y_{N1}(k) = he(k+1)$$

$$\hat y_{N0}(k+1) = \hat y_{cor}(k+1) $$

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