关键词: 稳定平台, 预测控制, 非最小状态空间法, Laguerre函数

Abstract: The paper presents a model predictive controller based on the augmented non-minimal state-space model in stabilized platform according to the poor robustness of traditional model predictive controller and the serious complexity of fuzzy PID control system. Considering the actual situation a mathematical model of the stabilized platform generalized plant is established. Through the combination with receding horizon control principle and linear quadratic optimal control, an augmented non-minimal state-space model predictive controller is designed on the basis of the augment form of augmented non-minimal state-space model. An algorithm of state feedback gain matrix with Laguerre function is proposed, and simulation study is realized with MATLAB for steering drilling stabilized platform control system. The simulation results show that stabilized platform predictive control system can well satisfy the requirements of the drilling engineering for control precision and dynamic characteristics, and the system has strong robustness to the model perturbation and the disc valve friction disturbing torque with time variation.

Key words: stabilized platform, predictive control, non-minimal state-space, Laguerre function