多级CSTR系统的深度Koopman建模与模型预测控制
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TP183

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国家重点研发计划项目(2024YFB4105203);国家自然科学基金青年基金项目(62422303);北京市自然科学基金-丰台创新联合基金重点项目(L241015);工业控制技术全国重点实验室开放课题(ICT2024B33);中央高校基本科研业务费专项资金项目(buctrc202418).


Deep Koopman modeling and model predictive control for multi-stage CSTR systems
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    摘要:

    多级连续搅拌釜反应器(CSTR)系统广泛应用于化工过程, 其多变量耦合和复杂的非线性动态特性给系统控制带来了挑战. 为此, 提出一种基于深度Koopman算子的建模方法和含三项惩罚函数的模型预测控制(MPC)方法. 通过深度Koopman算子将多级CSTR系统的动力学映射到高维线性空间, 并在该空间中设计含三项惩罚函数的模型预测控制算法, 从而提高多级CSTR系统的控制性能. 仿真结果表明, 深度Koopman模型在多步预测任务中具有良好的精度, 其在浓度和温度状态变量上的相对平均误差均低于0.10%. 相比于传统基于扩展动态模态分解的Koopman模型预测控制算法, 所提方法的均方根误差显著降低, 且约束优化问题平均求解时间明显低于非线性模型预测控制算法. 通过引入状态增量惩罚项, 所提出的三项MPC方法有效抑制了超调量, 且响应速度与两项MPC相近.

    Abstract:

    The multi-stage continuous stirred tank reactor (CSTR) system is widely used in chemical processes, yet its multivariable coupling and complex nonlinear dynamics pose significant challenges for control. To address this, a modeling approach based on the deep Koopman operator and a model predictive control (MPC) approach with a three-term objective function are proposed. The deep Koopman operator is employed to map the dynamics of the multi-stage CSTR system into a high-dimensional linear space, within which the MPC algorithm is designed to enhance the control performance. Simulation results demonstrate that the deep Koopman model exhibits high accuracy in multi-step prediction tasks, with the relative mean error of both concentration and temperature states maintained below 0.10%. Compared with the traditional Koopman MPC based on extended dynamic mode decomposition (EDMD), the proposed method significantly reduces the root mean square error and achieves a much lower average computation time than the nonlinear MPC algorithm. Moreover, by incorporating a state increment penalty term, the proposed controller effectively suppresses overshoot while maintaining a comparable response speed to the other two MPC strategies.

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耿志强,辛尚华,王孟志,等.多级CSTR系统的深度Koopman建模与模型预测控制[J].控制与决策,2026,41(3):675-684

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  • 收稿日期:2025-06-08
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  • 在线发布日期: 2026-03-04
  • 出版日期: 2026-03-10
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