MPC控制器
Generals
- MPC: regulatory controls using an explicit dynamic model of the response of process variables to changes in manipulated variables.
- basic version uses linear model. Can also be empirical model.
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advantages over PID:
- long time constants, substaintial time delays, inverse response, etc;
- multiple variables
- has constraints over process variables
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General characteristcs:
- targets (set points) selected by real-time optimization software based on current operating and economic conditions
- minimize square of deviations between predicted future outputs and specific reference trajectory to new targets
- handles MIMO control problems
- can include equality and inequality constraints on controlled and manipulated variables
- solves a nonlinear programming problem at each sampling instant
- disturbance is estimated by comparing the actual controlled variable with the model prediction
- usually implements the first move out of calculated moves
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MPC target trajectories
- Types:
- Funnel Trajectory
- Pure dead-band
- Referecen Trajectory
- Near-term vs. long-term objectives
- Response Target
- Response Speed
- Types:
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Quadratic objective
Details
- Impulse and step response models and the prediction equation
- Use of state estimation
- Optimization
- Infinite-horizon MPC and stability
- Use of nonlinear models