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Chapter - 20 3-6-05
Chapter - 20 3-6-05
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Model Predictive Control: Basic Concepts
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Model Predictive Control Originated in 1980s
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Chapter 20
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Dynamic Models for
Model Predictive Control
• Could be either:
1. Physical or empirical (but usually empirical)
Chapter 20
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Discrete Step Response Models
u Process y
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Prediction for SISO Models:
Example: Step response model
N 1
y(k + 1 ) y0 Si u( k i 1 ) S N u( k N 1 ) (20-1)
i 1
Chapter 20
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Prediction for SISO Models:
Example: Step response model
N 1
y(k + 1 ) y0 Si u( k i 1 ) S N u( k N 1 ) (20-1)
Chapter 20
i 1
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Prediction for SISO Models:
(continued)
Similarly, the j-th step ahead prediction is Eq. 20-10:
j N 1
yˆ (k j ) Si u ( k j i ) Si u (k j i) S N u (k j N )
Chapter 20
Define vectors:
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Dynamic Matrix Model
S1 0 0
S2 S1 0
0
S SM S M -1 S1 (20-20)
S M +1 SM S2
SP S P-1 S P-M +1
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Bias Correction
Y (k + 1 ) col [y(k
+ 1 ), y(k
+ 2 ), , y(k
+ P)] (20-25)
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EXAMPLE 20.4
The benefits of using corrected predictions will be illustrated by a simple
example, the first-order plus-time-delay model of Example 20.1:
Y(s) 5e-2s
= (20-26)
U(s) 15s 1
Assume that the disturbance transfer function is identical to the
Chapter 20
Y(s) 4e-2 s
= (20-27)
U(s) 20s 1
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Chapter 20
20
Chapter 20
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MPC Control Calculations
ˆ o (k + 1 ) Y (k + 1 ) Y o (k + 1 )
E (20-51)
r
• Note that all of the above vectors are of dimension, mP.
• The objective of the control calculations is to calculate the control
policy for the next M time intervals:
mP U (k) = K c Eˆ o (k + 1 ) (20-56)
where controller gain matrix Kc is defined to
be:
K c ( S T Q S R ) -1 S T Q (20-57)
• Note that Kc can be evaluated off-line, rather than on-line, provided
that the dynamic matrix S and weighting matrices, Q and R, are
constant.
U (k) = K c Eˆ o (k + 1 ) (20-56)
Chapter 20
where:
ΔU (k) col [Δu(k), Δu(k + 1 ), , Δu(k + M - 1 )] (20-18)
r mP
• Note that the controller gain matrix, Kc, is an rM x mP matrix.
.
• In the receding horizon control approach, only the first step of the
M-step control policy, u(k), in (20-18) is implemented.
u(k) = K c 1 Eˆ o (k + 1 ) (20-58)
where matrix Kc1 is defined to be the first r rows of Kc.
Thus, Kc1 has dimensions of r x mP.
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Selection of Design Parameters
Model predictive control techniques include a number of
design parameters:
N: model horizon
Chapter 20
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Selection of Design Parameters (continued)
1. N and t
These parameters should be selected so that N t > open-loop
settling time. Typical values of N:
30 < N < 120
Chapter 20
2. Prediction Horizon, P
Increasing P results in less aggressive control action
Set P = N + M
3. Control Horizon, M
Increasing M makes the controller more aggressive and increases
computational effort, typically:
5 < M < 20
4. Weighting matrices Q and R
Diagonal matrices with largest elements corresponding to most
important variables
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Example 20.5: set-point responses
e-s
G(s) =
(10 s + 1)(5s + 1)
Chapter 20
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Example 20.5: disturbance responses
Chapter 20
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