基于扰动观测器的多组分稀土萃取过程分布式预测控制

This paper proposes a-distributed predictive control method based on disturbance observer for the control of the component content in multi-component rare earth extraction process with model uncertainties, unknown external disturbance and constrained input and output. Firstly, the nonlinear dynamic model of rare earth extraction process is transformed into a nominal state-space model considering the state coupling of upstream sub-process. Secondly, in the case of no disturbance, a distributed model predictive controller considering input-output constraints is designed based on the nominal model, and the optimization problem is transformed into a constrained quadratic programming problem for solving. Then, in order to improve the anti-interference ability of the system, a feed forward compensation controller is designed using a disturbance observer with a state coupling term. In addition, the stability of the whole system is proved by using Lyapunov theory. The proposed method can realize the tracking control of component content under the condition of satisfying the practical constraints when there exists uncertainties and disturbances. Finally, the effectiveness and robustness of the proposed method are verified by simulation.